Embedded World Demo

Preparation

• Hardware

  • Ouster LiDAR
  • Tier4 C1 Camera with driver - tier4-camera-gmsl_1.1.1_arm64.deb
  • ADLINK RQX-58G with JetPack 4.6 - L4T R32.6.1

• ROS 1 Melodic Environment

  You can simply use ros_menu to install ROS.

• Jetson Inference

  Please follow jetson-inference to download and build the environment for Deep Learning. In this demo, we are going to use the detectnet of jetson-inference.

• All the other dependencies

  # for ouster lidar
  sudo apt install -y \
      build-essential \
      libeigen3-dev   \
      libjsoncpp-dev  \
      libspdlog-dev   \
      cmake

Download

mkdir -p ~/ew_demo_ws/src
cd ~/ew_demo_ws/src
git clone https://github.com/Adlink-ROS/ew_demo.git
git clone https://github.com/Adlink-ROS/pc_filter_ros.git
git clone https://github.com/Adlink-ROS/ros_deep_learning.git -b ew_demo
git clone https://github.com/Adlink-ROS/cam_lidar_calib.git -b ew_demo
git clone --recurse-submodules https://github.com/Adlink-ROS/ouster-ros.git -b ew_demo

ROS dependent packages

cd ~/ew_demo_ws
rosdep update
rosdep install --from-paths src --ignore-src -r -y

Build workspace

cd ~/ew_demo_ws
catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release
# Then, add `source ~/ew_demo_ws/devel/setup.bash` to the .bashrc or ROS Menu

Run calibration script

# example for camera port1
roslaunch ew_demo calibration.launch port1:=true

Run demo script

roslaunch ew_demo ew_demo.launch