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IllinoisRoboticsInSpace / IRIS

Illinois Robotics in Space 2022-2023 Season
https://iris.ae.illinois.edu/
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[Perception] Test RTAB-Map Binaries on Jetson Nano #10

Closed ttchalakov closed 4 months ago

ttchalakov commented 9 months ago

The switch from compiling RTAB-Map from source to using the binaries available through apt did not include testing RTAB-Map on the Jetson Nano. Steps to test RTAB-Map on the Jetson Nano:

  1. Download and flash one of the 128GB SD Cards with the Ubuntu_20_L4T_3243_OpenCV_420.zip image. This image has OpenCV 4.2.0 with CUDA compiled and installed on it, but the IRIS repo's dependencies have not been installed.
  2. Plug in the SD card into the Jetson Nano, navigate to the IRIS repo in ~/colcon_ws/src/IRIS, switch the branch to master and pull the latest changes (should wait until this pull request #9 is merged).
  3. Go into the /install_scripts folder, run the install_jetson_deps.sh script, and reboot the Jetson Nano.
  4. Plug in the realsense camera and run RTAB-Map using the commands in the repo's README.
gxywang commented 4 months ago

works; updated launch command to match realsense_ros's for unite_imu_method and added queue_size param. very slow right now though