Vins-mono on TX2 tutorial
===
###### tags: `NSPO`
# hardware
1. 3S LiPo battery
2. Nvidia Tx2
3. Nvidia Tx2 expand
4. USB hub
5. Arducam(Ar0134)
6. IMU source

==test on==
:::success
ubuntu 16.04
ros kinetic
TX2 jetpack 3.3.3
eigen 3.7
ceres solver 1.14
opencv 3.3.1

:::
# installation

## install Nvidia TX2 OS
0. [video of NVIDIA Jetson SDK Manager - JetPack 4.2](https://www.youtube.com/watch?v=s1QDsa6SzuQ&fbclid=IwAR0-h0sy0K59X2cg87KyIHgJtUsV1Kk_Tdn3sXUaiEgTWXgioLDBYftRCzQ&ab_channel=JetsonHacks)
1. Download SDK manager https://developer.nvidia.com/embedded/downloads

2. Go To step two
- chose TX2
- jetpack 3.3.3
3. Recovery mode
1. connect to your computer by MicroUSB
2. press force recovery button
3. press power button while recovery button still pressing
4. release the buttons
5. press step2 continue

4. setup ubuntu system

# install vins_mono
### 1. install nesessary

sudo apt-get install software-properties-common
sudo apt-add-repository universe
sudo apt-get update

# CMake
$ sudo apt-get install cmake
# google-glog + gflags
$ sudo apt-get install libgoogle-glog-dev
# BLAS & LAPACK
$ sudo apt-get install libatlas-base-dev

$ sudo apt-get install libsuitesparse-dev
$ sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
$ sudo apt-get update
$ sudo apt-get install libsuitesparse-dev

### 2. install eigen3.3.7

http://eigen.tuxfamily.org/index.php?title=Main_Page

git clone https://gitlab.com/libeigen/eigen.git
cd eigen
git checkout -b 3.7 3.3.7
mkdir build
cd build
cmake ../
sudo make install

### 3. install Ceres solver
download ver 1.14.0 tar.gz
https://github.com/ceres-solver/ceres-solver/releases

$ tar zxf ceres-solver-1.14.0.tar.gz 
$ mkdir ceres-bin
$ cd ceres-bin
$ cmake ../ceres-solver-1.14.0
$ make -j4
$ make test
$ sudo make install

## install ROS
1. install ROS

http://wiki.ros.org/kinetic/Installation/Ubuntu
2. make a workspace director

$ cd
$ mkdir -p catkin_ws/src
$ cd catkin_ws

4. build it

$ catkin_make

### 3. go to catkin_ws/src

$ cd ~/catkin_ws/src
$ git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono

$ cd ..
$ catkin_make

## move to expand board
from
to

you will need usb hub
for
1. flight controller
2. mouse wireless dungle

and plug AR0134 USB to origin socket
like this

## install IMU driver
if using pxhawk

$ sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras
$ cd /opt/ros/kinetic/lib/mavros
$ sudo ./install_geographiclib_datasets.sh 
$ roscd mavros
$ cd launch 

vim px4.launch

line 5:
<arg name="fcu_url" default="/dev/ttyACM0:57600" />
to 
<arg name="fcu_url" default="/dev/ttyACM0:921600" />

if using sheng-wen hawk

$ cd catkin_ws/src
$ git clone https://github.com/Networked-Control-Robotics-Lab/vins_mono_bridge.git

# install ardocam-ros

$ cd catkin_ws/src
$ git clone https://github.com/eason27271563/arducam_ros.git
$ cd ..
$ catkin_make

## some config file
### for arducam

vim /home/nvidia/catkin_ws/src/arducam_ros/camera_config_files/AR0134_640x484.json

file in the link
https://hackmd.io/CH-7z97VTOycI4cL2AywRg

### for vins_mono

vim /home/nvidia/catkin_ws/src/VINS-Mono/config/black_box/diy.yaml

file in the link
https://hackmd.io/R19N5YSQQgaxbjF1IYZ1JA?view

vim /home/nvidia/catkin_ws/src/VINS-Mono/vins_estimator/launch/diy.launch

file in the link
https://hackmd.io/ZfldKpftSUOgiEtihU-xaQ

# calibration
## distortion

on other powerfull computer

### install

sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-melodic-vision-opencv ros-melodic-image-transport-plugins ros-melodic-cmake-modules software-properties-common libpoco-dev python-matplotlib python-scipy python-git python-pip ipython libtbb-dev libblas-dev liblapack-dev python-catkin-tools libv4l-dev 
sudo apt update
sudo apt install python-igraph

cd ~/kalibr_workspace/src 
git clone https://github.com/ethz-asl/Kalibr.git
cd ~/kalibr_workspace 
catkin_make

### Download CDE-packages

https://github.com/ethz-asl/kalibr/wiki/downloads

tar zxf kalibr_20062014.tar.gz 
cd kalibr=cde
mkdir dynamic

### download Aprilgrid
download Aprilgrid and print it out

recommand to use 0.5*0.5 unscale
https://github.com/ethz-asl/kalibr/wiki/downloads

put april_6x6_50x50cm.yaml into dir kalibr-cde/dynamic

### record ROS bag
go back to TX2

roslaunch arducam_usb2_ros arducam_node.launch
rosbag record /arducam/triggered/camera/image_raw

go to your computer

source ~/kalibr_workspace/devel/setup.bash

cd kalibr-cde
kalibr_calibrate_cameras --target dynamic/april_6x6_50x50cm.yaml --bag dynamic/your-file-name.bag --models pinhole-radtan --topics /arducam/camera/image_raw

finish you will get

go to TX2

distortion: [-0.34256295 0.1029213 0.00116642 -0.00157431]
projection: [409.91609966 409.58921469 308.58311911 234.12912127]

### edit diy.yaml

## 執行
### with px4
delete the imu package in diy.launch first
then

roslaunch mavros px4.launch
roslaunch vins_estimator diy.launch

### with shengwen_hawk

roslaunch vins_estimator diy.launch