ros_laboratory

Requirements

• Ubuntu 18.04
• ROS melodic
• ROS2 dashing

Instructions to build everything

install catkin module (needed for build of ros melodic things)

  sudo apt-get install ros-melodic-catkin python-catkin-tools

install gtsam (follow https://github.com/eperdices/LeGO-LOAM-SR)

wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.0-alpha2/
mkdir build && cd build
cmake ..
sudo make install

Terminal 1 (if you want to try lego_loam, for ros1 - optional)

cd dev_ws
source /opt/ros/melodic/setup.bash
catkin build

I obtained some warnings that can be easily ignored

Terminal 2

install colcon module

sudo sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install python3-colcon-common-extensions

build lego_loam_sr

cd dev_ws2
source /opt/ros/dashing/setup.bash
catkin build

I obtained some warnings that can be easily ignored

Terminal 3

Following https://industrial-training-master.readthedocs.io/en/melodic/_source/session7/ROS1-ROS2-bridge.html.
These are the fundamental instructions:

cd ros1_bridge_ws/
source /opt/ros/melodic/setup.bash
source /opt/ros/dashing/setup.bash

source /dev_ws/devel/setup.bash
source /dev_ws2/install/setup.bash

colcon build --packages-select ros1_bridge --cmake-force-configure --cmake-args -DBUILD_TESTING=FALSE

this build will take long (~ 13 minutes on my pc)

Instructions to run everything

Terminal 1

cd dev_ws/
source /opt/ros/melodic/setup.bash
roscore &
rosbag play *.bag --clock --topic /velodyne_points

I used, for example, 2017-06-08-15-49-45_0.bag, downloaded from https://drive.google.com/drive/folders/1_t5fX5yIqY-y6sAifY8pVWX4O9LCK5R2?usp=sharing

Terminal 2

cd dev_ws2/
source dev_ws2/src/install/setup.bash
ros2 launch lego_loam_sr run.launch.py

Terminal 3

cd ros1_bridge_ws/
source bridgeinstall/local_setup.bash
ros2 run ros1_bridge dynamic_bridge --print-pairs

Instructions to setup CLion (i.e., to work with LeGO-LOAM-SR and ROS2)

I followed this guide (https://www.jetbrains.com/help/clion/ros-setup-tutorial.html#set-build-paths).
But fundamental instructions are:

1. source the workspace

source /opt/ros/dashing/setup.bash

2. source the particular directory

source dev_ws2/src/install/setup.bash

3. open clion

cd ~/clion-2020.3.3/bin/
./clion.sh

4. Click File | Open and select the src directory of the workspace (dev_ws2/src) then choose Open as Project.
5. In Build directory, set <WORKSPACE_DIRECTORY>/build.
6. In CMake options, add -DCATKIN_DEVEL_PREFIX:PATH=<WORKSPACE_DIRECTORY>/devel.