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Merge pull request #183 from clearpathrobotics/blackfly
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Blackfly Addition
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@tonybaltovski
tonybaltovski authored Oct 30, 2023
2 parents 38777e1 + 127d49d commit 57785bb
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13 changes: 10 additions & 3 deletions ..._docs/version-ros2humble/robots/accessories/sensors/cameras/flir_blackfly_s.mdx
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Expand Up @@ -38,10 +38,17 @@ import Support from "/components/support.mdx";

## Software Bringup

This sensor is not currently included in the Clearpath Robotics robot package but may be in the future.
If you purchased this sensor with your Clearpath robot, we will install the necessary ROS packages and configuration details on the robot's computer.
This sensor is included in the Clearpath Robotics robot package that is installed on all of our robots.
This allows you to add or remove the sensor from your robot's software description by modifying the
[robot configuration yaml](../../../../ros/config/yaml.mdx#cameras).

Refer to this page's Further Reading section for more details.
This sensor also requires additional changes beyond the robot.yaml file. These changes are included by default in the
Clearpath ISO, but can also be applied using the following command:

```bash
ros2 run spinnaker_camera_driver linux_setup_flir
```
or by following the [manual setup instructions](https://github.com/ros-drivers/flir_camera_driver/blob/humble-devel/spinnaker_camera_driver/docs/linux_setup_flir.md).

---

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15 changes: 15 additions & 0 deletions docs_versioned_docs/version-ros2humble/ros/config/yaml.mdx
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Expand Up @@ -806,6 +806,21 @@ camera:
pointcloud.enable: true
```

- **_flir_blackfly:_**

```yaml
camera:
- model: flir_blackfly
urdf_enabled: true
launch_enabled: true
parent: fath_pivot_0_mount
xyz: [0.0, 0.0, 0.0]
rpy: [0.0, 0.0, 0.0]
ros_parameters:
flir_blackfly:
serial_number: 0
```

### GPS

- **_swift_nav:_**
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12 changes: 12 additions & 0 deletions docs_versioned_docs/version-ros2humble/ros/installation/robot.mdx
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Expand Up @@ -125,6 +125,12 @@ To start the services, call
sudo systemctl daemon-reload && sudo systemctl start clearpath-robot.service
```

#### Additional settings

Certain sensors may require additional setup, please review the [Accessories](../../robots/accessories/accessories.mdx) pages
for any additional instructions for the sensors that you are using. For example, the Blackfly camera has additional instructions
listed under [software bringup](../../robots/accessories/sensors/cameras/flir_blackfly_s#software-bringup).

### Option 2: Manual Source Install

#### ROS 2 Humble
Expand Down Expand Up @@ -259,3 +265,9 @@ Add the following line to your `~/.bashrc` file to automatically source the gene
```
source /etc/clearpath/setup.bash
```

#### Additional settings

Certain sensors may require additional setup, please review the [Accessories](../../robots/accessories/accessories.mdx) pages
for any additional instructions for the sensors that you are using. For example, the Blackfly camera has additional instructions
listed under [software bringup](../../robots/accessories/sensors/cameras/flir_blackfly_s#software-bringup).
32 changes: 16 additions & 16 deletions docs_versioned_docs/version-ros2humble/ros/ros.mdx
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Expand Up @@ -47,22 +47,22 @@ sensors that have been validated by Clearpath.

:::

| Sensor | Type | Installation | Driver |
| :----------------------------------------------------------------------------------- | :----------- | :--------------- | :------------------------------------------------------------------------------------------ |
| [SICK LMS-111/LMS-151](../robots/accessories/sensors/lidar_2d/sick_lms111.mdx) | 2D Lidar | Source or Debian | [LMS1xx](https://github.com/clearpathrobotics/LMS1xx) |
| [Hokuyo UST10-LX](../robots/accessories/sensors/lidar_2d/hokuyo_ust10_lx.mdx) | 2D Lidar | Source or Debian | [urg_node](https://github.com/ros-drivers/urg_node) |
| [Hokuyo UST20-LX](../robots/accessories/sensors/lidar_2d/hokuyo_ust20_lx.mdx) | 2D Lidar | Source or Debian | [urg_node](https://github.com/ros-drivers/urg_node) |
| [Hokuyo UST30-LX](../robots/accessories/sensors/lidar_2d/hokuyo_ust30_lx.mdx) | 2D Lidar | Source or Debian | [urg_node](https://github.com/ros-drivers/urg_node) |
| [MicroStrain 3DM-GX5](../robots/accessories/sensors/imu/microstrain_3dm_gx5.mdx) | IMU | Source or Debian | [microstrain_intertial](https://github.com/LORD-MicroStrain/microstrain_inertial/tree/ros2) |
| [Redshift Labs UM7](../robots/accessories/sensors/imu/redshift_labs_um7.mdx) | IMU | Source | [um7](https://github.com/ros-drivers/um7/tree/ros2) |
| CH Robotics UM6 | IMU | Source | [um7](https://github.com/ros-drivers/um7/tree/ros2) |
| [Velodyne Puck](../robots/accessories/sensors/lidar_3d/velodyne_puck.mdx) | 3D Lidar | Source or Debian | [velodyne](https://github.com/ros-drivers/velodyne/tree/ros2) |
| [Garmin GPS 18x](../robots/accessories/sensors/gps/garmin_gps_18x.mdx) | GPS | Source | [nmea_navsat_driver](https://github.com/ros-drivers/nmea_navsat_driver/tree/ros2) |
| NovAtel SMART6 and SMART7 | GPS | Source or Debian | [nmea_navsat_driver](https://github.com/ros-drivers/nmea_navsat_driver/tree/ros2) |
| [Swift Navigation Duro](../robots/accessories/sensors/gps/swift_navigation_duro.mdx) | GPS | Source | [duro_gps_driver](https://github.com/szenergy/duro_gps_driver/tree/ros2-humble) |
| [Flir Blackfly S](../robots/accessories/sensors/cameras/flir_blackfly_s.mdx) | Camera | Source | [flir_camera_driver](https://github.com/ros-drivers/flir_camera_driver/tree/humble-devel) |
| [Intel Realsense D435](../robots/accessories/sensors/cameras/realsense_d435.mdx) | Depth Camera | Source or Debian | [realsense-ros](https://github.com/IntelRealSense/realsense-ros/tree/ros2-development) |
| [Stereolabs Zed 2](../robots/accessories/sensors/cameras/stereolabs_zed_2.mdx) | Depth Camera | Source | [zed-ros2-wrapper](https://github.com/stereolabs/zed-ros2-wrapper.git) |
| Sensor | Type | Installation | Driver |
| :----------------------------------------------------------------------------------- | :----------- | :----------- | :------------------------------------------------------------------------------------------ |
| [SICK LMS-111/LMS-151](../robots/accessories/sensors/lidar_2d/sick_lms111.mdx) | 2D Lidar | Debian | [LMS1xx](https://github.com/clearpathrobotics/LMS1xx) |
| [Hokuyo UST10-LX](../robots/accessories/sensors/lidar_2d/hokuyo_ust10_lx.mdx) | 2D Lidar | Debian | [urg_node](https://github.com/ros-drivers/urg_node) |
| [Hokuyo UST20-LX](../robots/accessories/sensors/lidar_2d/hokuyo_ust20_lx.mdx) | 2D Lidar | Debian | [urg_node](https://github.com/ros-drivers/urg_node) |
| [Hokuyo UST30-LX](../robots/accessories/sensors/lidar_2d/hokuyo_ust30_lx.mdx) | 2D Lidar | Debian | [urg_node](https://github.com/ros-drivers/urg_node) |
| [MicroStrain 3DM-GX5](../robots/accessories/sensors/imu/microstrain_3dm_gx5.mdx) | IMU | Debian | [microstrain_intertial](https://github.com/LORD-MicroStrain/microstrain_inertial/tree/ros2) |
| [Redshift Labs UM7](../robots/accessories/sensors/imu/redshift_labs_um7.mdx) | IMU | Source | [um7](https://github.com/ros-drivers/um7/tree/ros2) |
| CH Robotics UM6 | IMU | Source | [um7](https://github.com/ros-drivers/um7/tree/ros2) |
| [Velodyne Puck](../robots/accessories/sensors/lidar_3d/velodyne_puck.mdx) | 3D Lidar | Debian | [velodyne](https://github.com/ros-drivers/velodyne/tree/ros2) |
| [Garmin GPS 18x](../robots/accessories/sensors/gps/garmin_gps_18x.mdx) | GPS | Source | [nmea_navsat_driver](https://github.com/ros-drivers/nmea_navsat_driver/tree/ros2) |
| NovAtel SMART6 and SMART7 | GPS | Debian | [nmea_navsat_driver](https://github.com/ros-drivers/nmea_navsat_driver/tree/ros2) |
| [Swift Navigation Duro](../robots/accessories/sensors/gps/swift_navigation_duro.mdx) | GPS | Source | [duro_gps_driver](https://github.com/szenergy/duro_gps_driver/tree/ros2-humble) |
| [Flir Blackfly S](../robots/accessories/sensors/cameras/flir_blackfly_s.mdx) | Camera | Debian | [flir_camera_driver](https://github.com/ros-drivers/flir_camera_driver/tree/humble-devel) |
| [Intel Realsense D435](../robots/accessories/sensors/cameras/realsense_d435.mdx) | Depth Camera | Debian | [realsense-ros](https://github.com/IntelRealSense/realsense-ros/tree/ros2-development) |
| [Stereolabs Zed 2](../robots/accessories/sensors/cameras/stereolabs_zed_2.mdx) | Depth Camera | Source | [zed-ros2-wrapper](https://github.com/stereolabs/zed-ros2-wrapper.git) |

:::note

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