Environment Setup - Dell Optiplex

This section describes the steps to prepare the development environment for the UGV project on the Dell Optiplex, which is the computing platform for the SLAM/autonomous navigation module. The Optiplex communicates with the Raspberry Pi over Ethernet during operation.

1. Install ROS 2 Humble and Required Packages

Run the following commands to install necessary packages:

sudo apt install ros-humble-desktop
sudo apt install ros-humble-librealsense2*
sudo apt install ros-humble-realsense2-*
sudo apt install ros-humble-rtabmap-ros
sudo apt install ros-humble-imu-tools
sudo apt install ros-humble-control-msgs

2. Create a Colcon Workspace

Set up a Colcon Workspace to manage ROS packages without official Rosdistro binaries:

mkdir -p ~/osr_ws/src
cd ~/osr_ws/src

3. Clone Required Repositories

Download the following repositories into the src folder:

git clone https://github.com/ROBOTIS-GIT/ld08_driver.git
git clone https://github.com/your-username/UGV-Embrapa.git

4. Build the Workspace

Build the workspace using Colcon:

cd ~/osr_ws
colcon build --symlink-install
source ~/osr_ws/install/setup.bash

5. Configure Realsense D435i

Calibrate the IMU of the Realsense D435i camera:

  1. Install the pyrealsense2 library:

    pip install pyrealsense2

  2. Clone the Librealsense repository:

    git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense/tools

  3. Run the calibration script:

    python3 rs-imu-calibration.py

  4. Follow the on-screen instructions to position the camera in 6 different orientations. Aim for a calibration grade close to 98 (the achieved grade was 98.05).

6. Configure LiDAR LDS-02

Set up udev rules for the LiDAR:

  1. Clone the TurtleBot3 repository (if not already done):

    cd ~/osr_ws/src
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

  2. Copy the udev rules file:

    sudo cp ~/osr_ws/src/turtlebot3/turtlebot3_bringup/99-turtlebot3-cdc.rules /etc/udev/rules.d/

  3. Reload and trigger udev rules:

    sudo udevadm control --reload-rules
sudo udevadm trigger

7. Final Steps

Your SLAM/autonomous navigation project environment is now set up. Remember to source the workspace setup file in each new terminal:

source ~/osr_ws/install/setup.bash