TMR_2023

Setup

Note: in the following instructions, we named our workspace tello_workspace, you can copy and paste all commands if you name your worskpace the same, othwerwise, replace tello_workspace with yours.

Prerequisites:

Fresh install of ubuntu 18.04

Install ROS Melodic

Follow this page http://wiki.ros.org/melodic/Installation/Ubuntu

Install the following version of ffmpeg:

wget "http://archive.ubuntu.com/ubuntu/pool/universe/f/ffmpeg/ffmpeg_3.4.11-0ubuntu0.1_amd64.deb"
dpkg -i ffmpeg_3.4.11-0ubuntu0.1_amd64.deb

Install the following version of av library:

pip install av==0.3.3

Install catkin tools

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install python-catkin-tools

Install Eigen3

sudo apt install libeigen3-dev

Install Python PIL

sudo apt-get install python-imaging-tk

Create ROS workspace

source /opt/ros/melodic/setup.bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin_make
source devel/setup.bash
echo $ROS_PACKAGE_PATH

Install Pangolin v0.6

Inside your workspace:

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
git checkout tags/v0.6
sudo apt install libgl1-mesa-dev
sudo apt install libglew-dev
sudo apt-get install libxkbcommon-dev
mkdir build
cd build
cmake ..
make

Install h264decoder v1

Inside your workspace:

git clone https://github.com/DaWelter/h264decoder.git
cd h264decoder
git checkout tags/v1

Inside h264decoder.cpp replace PIX_FMT_RGB24 with AV_PIX_FMT_RGB24 Then:

mkdir build
cd build
cmake ..
make

copy to python path

sudo cp ~/tello_workspace/h264decoder/libh264decoder.so /usr/local/lib/python2.7/dist-packages

Clone

Inside your workspace:

git clone https://github.com/DroneOps/TMR_2023.git

Install custom TelloPy

cd ~/tello_workspace/TMR_2023/TelloPy
sudo python setup.py install

ROS Dependencies

cd ~/tello_workspace/TMR_2023/ROS/tello_catkin_ws/
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y

Compile Orbslam2 and Custom Packages

cd ~/tello_workspace/TMR_2023/ROS/tello_catkin_ws/
catkin init
catkin clean
catkin build

Might return error when compiling for the first time, simply repeat catkin build command

echo "source $PWD/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc