Installing and running (Ubuntu 18.04)

Install ROS Melodic

[http://wiki.ros.org/melodic/Installation/Ubuntu]

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

sudo apt install ros-melodic-desktop-full

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc

source ~/.bashrc

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential python-catkin-tools

sudo rosdep init

rosdep update

Install dependencies

sudo apt install ros-melodic-nav-msgs

sudo apt install ros-melodic-image-transport

sudo apt install ros-melodic-urg-node

sudo apt install ros-melodic-nmea-msgs

sudo apt install ros-melodic-message-to-tf

sudo apt install ros-melodic-rosserial

sudo apt install ros-melodic-rosserial-arduino

sudo apt install ros-melodic-robot-localization

sudo apt install v4l-utils

Install OpenCV

Tested and run with opencv 4.2.0 (should work with opencv > 3.3)

[https://linuxize.com/post/how-to-install-opencv-on-ubuntu-18-04/]

sudo apt install build-essential cmake git pkg-config libgtk-3-dev libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libxvidcore-dev libx264-dev libjpeg-dev libpng-dev libtiff-dev gfortran openexr libatlas-base-dev python3-dev python3-numpy libtbb2 libtbb-dev libdc1394-22-dev

mkdir opencv_build && cd opencv_build

git clone -b 4.2.0 https://github.com/opencv/opencv.git

git clone -b 4.2.0 https://github.com/opencv/opencv_contrib.git

cd opencv

mkdir build && cd build

cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D INSTALL_C_EXAMPLES=ON -D INSTALL_PYTHON_EXAMPLES=ON -D OPENCV_GENERATE_PKGCONFIG=ON -D OPENCV_ENABLE_NONFREE:BOOL=ON -D OPENCV_EXTRA_MODULES_PATH=~/Libraries/opencv_build/opencv_contrib/modules -D BUILD_EXAMPLES=ON ..

make -j4

sudo make install

pip install opencv-contrib-python

Test it with: python -c "import cv2; print cv2.__version__"

Instal DJI SDK

Clone repository branch 3.9

git clone -b 3.9 https://github.com/dji-sdk/Onboard-SDK.git

Compile and install

cd Onboard-SDK

mkdir build && cd build

cmake ..

make

sudo make install

sudo ldconfig

sudo usermod -a -G dialout $USER

Log in and out and DJI SDK is ready to go

Setting up the ROS ws

mkdir -p ~/ROS/DJI_OSDK_ws/src

catkin_init_workspace

cd ..

catkin init

catkin build

echo "source ~/ROS/DJI_OSDK_ws/devel/setup.bash" >> ~/.bashrc

source ~/.bashrc

Install Guidance

cd ~/ROS/DJI_OSDK_ws/src

git clone https://github.com/AnandaNN/Guidance-SDK-ROS.git

sudo sh -c 'echo "SUBSYSTEM==\"usb\", ATTR{idVendor}==\"fff0\", ATTR{idProduct}==\"d009\", MODE=\"0666\"" > /etc/udev/rules.d/51-guidance.rules'

catkin build Needs to be run a couple of times before it compiles (Something with the message generation)

Fixing usb cam

cd ~/ROS/DJI_OSDK_ws/src

git clone https://github.com/ros-drivers/usb_cam.git

Open usb_cam/src/usb_cam.cpp and add: av_log_set_level(AV_LOG_ERROR); to line 376

This fixes the following warning beeing spammed to the console: [swscaler @ 0x564625b66b60] deprecated pixel format used, make sure you did set range correctly

Teensy UDEV rules

Add the file: 49-teensy.rules to the udev folder : /etc/udev/rules.d/ and add the following content to it:

[https://www.pjrc.com/teensy/49-teensy.rules]

Python

pip install pandas

pip install scikit-image

M100 DTU ROS Package

cd ~/ROS/DJI_OSDK_ws/src

git clone https://github.com/AnandaNN/M100_DTU_ROS.git