Nvidia_TX1: add ros install scripts

[rmackay9]

This PR does the following:

• modifies the zed camera setup to download the setup package from my dropbox account. This is a temporary measure until I can figure out why we are unable to download the package from stereolabs.com
• adds new ros install and startup scripts. These are far from perfect but they generally work.

[peterbarker]

On Mon, 6 Feb 2017, khancyr wrote:

sed -i -e "s/rgb/zed/rgb/g" ./zed_rtabmap.launch

I think you mispelt "perl".

[khancyr]

@peterbarker I noob so much at this (point click kid here ^^) ! So I will watch and learn if you got another solution

[khancyr]

About the launch, explicite use roslaunch isn't needed as the first .launch called will bring roscore up. I would recommand the use of a master roslaunch that launch everything needed and https://github.com/clearpathrobotics/robot_upstart to create clean auto launcher for ROS stuff !

[vooon]

I initially use robot_upstart, but then write my own upstart job: https://github.com/vooon/rarog/blob/master/rarog_configs/rpi2/rarog.conf And i believe, that systemd unit also should be simple (don't understand why people so love daemon-forking-magic while modern init can daemonize and track status without it).

Several run of roslaunch can be replaced with one bringup: https://github.com/vooon/rarog/blob/master/rarog_bringup/launch/robot_bringup.launch

E.g. something like that:

<launch>

<group ns="camera">
  <include file="$(find zed_wrapper)/launch/zed.launch" />
  <!-- node for static tf. but better to use urdf + robot_state_publisher -->
  <include file="$(find rtabmap_ros)/launch/zed_rtabmap.launch">
    <arg name="rtabmap_args" value="--delete_db_on_start" />
    <arg name="depth_topic" value="/camera/zed/depth/depth_registered" />
  </include>
</group>

<!-- other nodes, not in /camera -->
</launch>

[khancyr]

@vooon thanks for the inputs !! I don't understand if you like or not systemd ! but for me it seems simple for simple thing, so that good ! I point out robot_upstart as it takes plenty parameter (such as run as root, where to log etc.) and when you start ROS it is quite simple to understant how to use it (without digger into what is systemd, realized that you need to set permission, and finally that you need to use upstart of rc.local ...)

[vooon]

@khancyr my opinion, that upstart has better config (DSL, easier to understand), but other is common in both systems. And now major distros are use systemd anyway. Oh, as i see, robot_upstart now should be called robot_systemd :) But scripts looks same as before.