snowplow-Vision-system

Dependencies

April tag

1. somewhere not in the snowplow repo clone this guy: https://github.com/AprilRobotics/apriltag
2. Follow build instructions defined in the read of the projects. basically:

sudo apt install python3 python3-pip
sudo pip3 install numpy
cmake .
sudo make install

Real sense camera

References:

• https://github.com/IntelRealSense/librealsense/blob/development/doc/distribution_linux.md
• https://www.intelrealsense.com/get-started-depth-camera/
• https://github.com/IntelRealSense/realsense-ros

install dependencies:

sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
sudo apt install  librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg ros-melodic-ddynamic-reconfigure

launching

from the catkin workspace:

roslaunch apriltag_ros continuous_detection.launch