Ouster (Depreciated) ==================== .. attention:: The ouster organization have updated their installation method. This will work only for pre-installed ouster modules before ``September 2022``. All later ouster modules have a new method which will be updated in time. .. image:: media/accessories/ouster.png The second recommended augment is the ouster lidar for the navigation and obstacle avoidance. Following is the guide for use and setup for the Ouster. For the ouster attachment, the following package has to be installed in the current workspace. The following `tutorial `__ can be followed or the provided description. .. important:: This tutorial is to only be followed if the ouster software is not already pre-installed. 1. Install dependencies: .. code:: bash sudo apt install build-essential cmake libglfw3-dev libglew-dev libeigen3-dev \ libjsoncpp-dev libtclap-dev 2. Create a new folder in your catkin workspace named ``utils``: .. code:: bash cd ~/catkin_ws/ mkdir utils cd utils 3. Clone the repository into ``utils``: .. code:: bash git clone https://github.com/ouster-lidar/ouster_example.git 4. Go into ``ouster_example`` and make a folder called ``build`` and go inside of the build folder: .. code:: bash cd ouster_example mkdir build cd build 5. Build the ``ouster_example`` from inside the build folder; be sure to give the absolute path to your ouster_example: .. code:: bash cmake -DCMAKE_BUILD_TYPE=Release make .. note:: The path should look something like this `/home/development/user/catkin_ws/utils/ouster_example` 6. Connect the ouster with an ethernet cable, and follow the instructions provided in the `software user manual `__ chapter 2. - It may take 5-10 mins for it to be detected. 7. Next navigate to the ``utils`` and in there open a terminal and run: .. code:: bash chmod +x set_static_ip.py python3 set_static_ip.py 8. Then make open up your ethernet connection that is in the settings and add a new connection. Give your desired name and then navigate to the ``IPv4`` tab. In it change the connection to ``Manual``. In the ``Addressess``, give the address as ``192.168.123.2`` and the net mask as ``255.255.255.0``, and save. Then connect to this ip. .. attention:: Any IP address can be given according to the requirement but the IP's for the host and the client should remain in the same range e.g. 192.168.131.* - Verify that the computer is receiving data from ouster via: .. code:: bash ./ouster_client_example 192.168.123.1 '' 1. Install ros dependencies again via: .. code:: bash sudo apt install ros-melodic-ros-core ros-melodic-pcl-ros \ ros-melodic-tf2-geometry-msgs ros-melodic-rviz 10. Source devel or restart terminal and navigate to the ``third_party`` package and enter the folder. Once there open up the terminal and create a virtual link to the outser_example from utils via: .. code:: bash ln -s /ouster_example/ ./ 11. Finally, go into ``catkin_ws`` and once again build the package: .. code:: bash catkin build source devel/setup.bash 12. Verify installation via :: roslaunch ouster_ros ouster.launch sensor_hostname:=192.168.123.2 metadata:=/home/development/ouster_metadata/ouster_meta.json viz:=true - Be sure to change the path to your home directory accordingly. | Emlid REACH RS2 (Depreciated) ============================= .. image:: media/accessories/emlid.jpg :width: 100% :alt: EMLID REACH RS2 :align: center Data Sheets ----------- - `Reach Emlid RS2 Data Sheet `__ Documentations -------------- - `Emlid RS2 Tutorial `__ - `Emlid RS2 Base Rover Tutorial `__ Setup ----- The first recommended augment is the Emlid Reach RS2 GPS for the outdoor waypoint navigation. Following is the guide for use and setup for the Emlid GPS. .. important:: Please note that the Emlid Reach RS2 works on 2.4GHz band when connecting to a WiFi network. Position of GPS relative to the ground severely effects accuracy and connectivity. Requirements ~~~~~~~~~~~~ - EMLID REACH RS2 - Internet connection Procedure --------- 1. Connect to the Emlid via it's WiFi hotspot. - SSID: Reach - Password: emlidreach 2. Install the ReachView 3 app on the playstore. - Setup Reach on the available connections once available. - Provide internet connection to the emlid. - Reconnect to it in the app. 3. Rename and setup configuration Emlid RS2 USB Connection ~~~~~~~~~~~~~~~~~~~~~~~~ - Add a new udev file to **/etc/udev/rules.d**, for example ``sudo touch 45_emlid.rules`` - In that udev file add, the following: .. code:: bash SUBSYSTEM=="net", ACTION=="add", ATTR{address}=="3032:0013", NAME="emlid0" .. note:: Change the address to your EMLID ID address. The ID can be found via `lsusb`. Normally not required with default emlid configuration. - Reload the udev rules via: .. code:: bash sudo udevadm control --reload-rules && sudo udevadm trigger - Setup a static connection in you PC in e.g. `192.168.2.1` and now you should be able to access the Emlid in `192.168.2.15` .. attention:: The GPS data is sent over via NMEA messages, so please ensure to go to the Emlid via app or browser (192.168.2.15) and ensure that the one of the position output is set to ``tcp`` with the stream coming on NMEA. Enabling Precision Mode ~~~~~~~~~~~~~~~~~~~~~~~ 1. Goto the provided Emlid's Reach panel for configuring high precision mode. 2. Get access to NTRIP connection which can be done by contacting your nearest receivers station. 3. In the Emlid Reach Panel go to the RTK settings. - Set position mode to kinematic. - Set elevation mask angle to 15 degrees. - Set SNR mask to 35. - Select all GNSS options. - Set update rate at 5hz. 4. Goto the correction input tab in the Reach panel and select NTRIP. - Fill in the information provided by your receiving station i.e. - ip address - port - username - password - mount point (Usually detected automatically) - Select send NMEA GGA messages to enable correction. 5. In base mode in you can set the base coordinated data accumulation time to 1 minute. 6. Verify in the status of the reach panel whether green as well as grey bars appear, indicating successful correction. | Emlid REACH M2 (Depreciated) ============================ .. image:: media/accessories/reachm2.png :width: 100% :alt: EMLID REACH M2 :align: center .. important:: Please note that the Emlid Reach M2 works on 2.4GHz band when connecting to a WiFi network. - `Emlid M2 Tutorial `__ Emlid M2 USB Connection ----------------------- - Add a new udev file to **/etc/udev/rules.d**, for example ``sudo touch 45_emlid.rules`` - In that udev file add, the following: .. code:: bash SUBSYSTEM=="net", ACTION=="add", ATTR{address}=="3032:0013", NAME="emlid0" .. note:: Change the address to your EMLID ID address. The ID can be found via `lsusb`. Normally not required with default emlid configuration. - Reload the udev rules via: .. code:: bash sudo udevadm control --reload-rules && sudo udevadm trigger - Setup a static connection in you PC in e.g. `192.168.2.1` and now you should be able to access the Emlid in `192.168.2.15` .. attention:: The GPS data is sent over via NMEA messages, so please ensure to go to the Emlid via app or browser (192.168.2.15) and ensure that the one of the position output is set to ``tcp`` with the stream coming on NMEA. Setting Up Base Station ----------------------- - `Base Rover Tutorial `__ Adding REACH RS2/M2 ROS Driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 1. All prior steps are required. Clone the following git repo, to your catkin workspace and build it: .. code:: bash cd catkin_ws/src git clone https://github.com/enwaytech/reach_rs_ros_driver catkin build 2. Add to your launch file: .. code:: bash 3. Goto the position output tab in the reach panel and change the output to TCP along with message type being NMEA.