# Husky Gazebo in ROS melodic
###### tags: `husky`

## ROS install Husky
==setup==

cd ~/catkin_ws/src   
***%  comment your catkin workspace name here is mine is (catkin_ws)*** 
git clone https://github.com/husky/husky.git
git checkout melodic-devel
cd ..

catkin_make
sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control
sudo apt-get install ros-melodic-multimaster-launch
sudo apt-get install ros-melodic-lms1xx
rosdep install --from-path src --ignore-src  
catkin_make 
source devel/setup.bash
rosrun husky_bringup install

==setting priority for port==

sudo chmod 777 /dev/ttyUSB0
sudo usermod -a -G dialout [username]

## install NCRL_lio
### Prerequisites
1.ceres
2.PCL
### 安裝ceres
注意
須下載1.14.0版本，可在官方github切換版本。
官網:http://ceres-solver.org/installation.html

git clone https://ceres-solver.googlesource.com/ceres-solver
git checkout 1.14.0
# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
sudo apt-get install libsuitesparse-dev
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver
make -j3
sudo make test
# Optionally install Ceres, it can also be exported using CMake which
# allows Ceres to be used without requiring installation, see the documentation
# for the EXPORT_BUILD_DIR option for more information.
sudo make install

### 安裝PCL

注意
須下載1.8.1版本以上，可在官方github切換版本。

git clone https://github.com/PointCloudLibrary/pcl.git
git checkout pcl-1.8.1
#安裝以下第三方程式
sudo apt-get update  
sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install cmake cmake-gui
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common 
sudo apt-get install libflann1.8 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk6-dev
sudo apt-get install libqhull* libgtest-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev
sudo apt-get install mono-complete
sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre
sudo apt-get install libflann-dev
#進行編譯
cd pcl 
mkdir release 
cd release
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON-DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr .. 
make  -j6
sudo make install

### install ncrl_lio

cd catkin_ws/src
git clone https://github.com/SLAM-NCRL/ncrl_lio.git
catkin_make

* 修改ncrl_lio/config/run.yaml 將31到33行參數,修改內容為IMU到Lidar的x,y,z距離
* 修改ncrl_lio/launch/run.launch 將第6行<param name="use_sim_time" value="true"/> 更改為<param name="use_sim_time" value="false"/>

### husky environment zip file
https://drive.google.com/file/d/1ZRI-Iw7IH_lxUSuEQClzHniOZuDOWwtR/view?usp=share_link

## Lidar CBF

https://drive.google.com/drive/folders/1ZDg2DRIfGyazI1B08HJ-O5g57nBw-2iS?usp=share_link

### run CBF

cd catkin_ws/src
rosrun Lidar-CBF cbf.py