ZED 카메라

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영상 참조

dudtkdckawh

SDK 다운로드 사이트

(python 파일들)

python 파일들

Downloads
카메라 화각
110°(가로), 70°(세로), 120°(대각선)
사이트

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SDK download site

sudo apt install zstd
cd Downloads
./ZED_SDK_Tegra_L4T32.7_v4.0.7.zstd.run

• Installation path: /usr/local/zed/samples/

ROS

• Set up catkin workspace(work space should be same with the f1tenth_ws!!!)
  (source /opt/ros/noetic/setup.bash)
  (mkdir -p ~/catkin_ws/src)
  cd ~/f1tenth_ws/
catkin_make
source devel/setup.bash
• Build the packages
  cd ~/f1tenth_ws/src
git clone --recursive https://github.com/stereolabs/zed-ros-wrapper.git
cd ../
  dependencies install
  sudo apt-get update
sudo apt-get install apt-utils
sudo dpkg --configure -a
sudo rosdep init
rosdep update
sudo apt-get install ros-melodic-spacenav-node
sudo apt-get install ros-melodic-hector-mapping
sudo apt-get install ros-melodic-spacenav-node
sudo apt-get install ros-melodic-hector-mapping
sudo apt-get install ros-melodic-ps3joy
sudo apt-get install ros-melodic-gmapping
  continue building the package
  rosdep install --from-paths src --ignore-src -r -y
catkin_make -DCMAKE_BUILD_TYPE=Release
source ./devel/setup.bash
• Starting the ZED node
  roslaunch zed_wrapper zed2.launch
• Rviz display
  roslaunch zed_display_rviz display_zed2.launch

• TF tree 확인
  rosrun tf view_frames
evince frames.pdf
  

Lidar (Hokyuo-UST-10LX)

spec

Transformation

유튜브1
유튜브2

사이트1
사이트2
ros

1. tf2 ros package 다운로드 ()
   참고

git clone https://github.com/jsk-ros-pkg/geometry2_python3.git
참고

2. lidar, zed2 ros launch

• lidar
  roscore
vesc
lidar
• zed2
  cd ~/catkin_ws
source ./devel/setup.bash
roslaunch zed_wrapper zed2.launch

3. base_link 기준으로 lidar 위치 잡아주기
   rosrun tf2_ros static_transform_publisher 1.0 0.0 0.4 0.0 0.0 0.0 1.0 base_link laser
   rosrun tf2_ros static_transform_publisher {x} {y} {z} {qx} {qy} {qz} {qw} {frame_id} {child_frame_id}

   -> x: 전방 y: 좌측, z: 위 (단위: m)
   -> qx qy qz qw: 쿠터니언 값([0 0 0]오일러 각 -> [0 0 0 1]쿼터니언 값)

4. base_link 기준으로 zed2 위치 잡아주기
   rosrun tf2_ros static_transform_publisher 1.5 0.0 0.4 0.0 0.0 0.0 1.0 base_link zed2_base_link

   F1tenth vehicle real hardware

rosrun tf2_ros static_transform_publisher 0.25 0.0 0.05 0.0 0.0 0.0 1.0 base_link zed2_base_link

[frenet_planning_node-1] process has died [pid 28745, exit code -11, cmd /home/follower1/lf_ws/devel/lib/ros_frenet_planning/frenet_planning_node name:=frenet_planning_node log:=/home/follower1/.ros/log/2b48f278-9195-11ee-8c21-a46bb6066cbf/frenet_planning_node-1.log].
log file: /home/follower1/.ros/log/2b48f278-9195-11ee-8c21-a46bb6066cbf/frenet_planning_node-1*.log