readme_ros.md

ELEC 3210 Course Projects

HKUST ELEC3210 (24-25 Fall) Projects, materials are provided by TA @Jason-xy

ELEC 3210 Dev Environment Setup

Supported Platforms

	Windows	MacOS	Linux
amd64	✅	✅	✅
arm64	✅	✅	✅

Tested Platforms

• Windows 11 (Recommend with WSL2)
• MacOS (Apple Silicon)
• Ubuntu

Attention

If you clone this repository on Windows, please make sure the line endings are set to LF instead of CRLF.

git config --global core.autocrlf input

Prerequisites

• Docker
• Docker Compose

Start the Dev Environment

Use ekf_slam_dev as an example:

Modify the path in xxx_dev.sh

Set the APP_PATH and DATA_PATH to the correct path on your machine.

export APP_PATH=$SCRIPT_DIR/ekf_slam
export DATA_PATH=$SCRIPT_DIR/dataset

Start the Dev Environment

chmod +x ekf_slam_dev.sh
./ekf_slam_dev.sh

Access the Dev Environment (Recommend to use VSCode)

Required Extensions:

Extension	ScreenShot
Docker
Remote Development
C/C++ Extension Pack

Right-click on the container and click Attach Visual Studio Code.

Then click File -> Open Folder on the newly popped up VSCode window and select the workspace folder /ws.

Compile and Run (Inside the containered environment)

cd /ws
catkin_make
source devel/setup.bash
roslaunch ekf_slam ekf_slam.launch

Access GUI Desktop

Open a browser and visit http://localhost:8080/ to access the GUI desktop.

The default resolution is 1200x800. You can change it in the docker/lab/supervisord.conf file and rebuild the image.

Dataset

Download the dataset from OneDrive and put it in your DATA_PATH folder.