Omnicar robot

• You need robot_localization installed in your workspace

git clone -b noetic-devel https://github.com/cra-ros-pkg/robot_localization.git

• You need orb_slam2_ros installed in your workspace

git clone https://github.com/appliedAI-Initiative/orb_slam_2_ros.git

• You need aruco_detect installed in your workspace

git clone https://github.com/UbiquityRobotics/fiducials.git

• You can Install all required dependencies. Run it from your catkin folder

sh src/omnicar/install_dependencies.sh

• don't forget to build it

catkin build

Prepare lidar

Currently we are using DTOF LIDAR LD19 ...

Prepare depth camera for robot

• Install drivers and basic staff for realsence d435 camera.

sudo apt-get install ros-$ROS_DISTRO-realsense2-camera

• Test depth camera with

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud