# Hardware Drivers of OREO The following tutorials are all tested on Ubuntu 20.04.6 LTS. ## Velodyne VLP-16 3D LiDAR ### Connect your LiDAR Connect the LiDAR to an Ethernet port and disable the WiFi connection on OREO. * Go to **Network Connections** and click the "+" button next to **enp2s0**. (which is the 1000 Mbps one) * Change the connection name (vlp16) then choose the IPv4 setting tab and change the "Method" field to **Manual**. * Then key in the addresses as below: * Address: `192.168.12.200` :::success "200" can be any number in a range between 1 and 254, **except 201** ::: * Netmask: `255.255.255.0` * Gateway: `0.0.0.0` * Finally check the connection in `192.168.12.201`. You can set the FOV and motor angular velocity here. ![](https://hackmd.io/_uploads/SJotqPLGp.png) OREO setting will set Ethernet as first priority to Internet. Set Wi-Fi as first priority so that you can connect to LiDAR and Internet at the same time. :::warning Check the **Use this connection only for resources on its network** option in **Network** to avoid changes to the settings when you restart the robot. ::: Referenceļ¼š http://wiki.ros.org/velodyne/Tutorials/Getting%20Started%20with%20the%20Velodyne%20VLP16 ### Start to install driver! #### Install ROS dependencies ```shell!= sudo apt-get install ros-VERSION-velodyne ``` In our case, `VERSION="noetic"` #### Go to catkin workspace ```shell!= cd ~/catkin_ws/src ``` #### Clone the repo and build it Reference: https://github.com/ros-drivers/velodyne.git ```shell!= git clone https://github.com/ros-drivers/velodyne.git rosdep install --from-paths src --ignore-src --rosdistro YOURDISTRO -y cd .. catkin_make ``` It is now ready to run! ### View the LiDAR data using RViz ```shell!= source devel/setup.bash roslaunch velodyne_pointcloud VLP16_points.launch ``` Open **another terminal tab**, check the nodes are running properly. ```shell!= rosnode list rostopic echo /velodyne_points ``` After that, launch **RViz**, with the `velodyne` as a fixed frame. ```shell!= rosrun rviz rviz -f velodyne ``` 1. In the **displays** panel, click **Add**, then select `PointCloud2`, then press **OK**. 2. In the **Topic** field of the new `PointCloud2` tab, enter `/velodyne_points`. 3. Have fun! ![](https://hackmd.io/_uploads/ryBR9PUfT.png) <br> ## SICK LMS100 (2D Laser) ### Connect your 2D Laser * Go to **Network Connections** and click the "+" button next to **enp0s31f6**. (which is the 100 Mbps one) * Change the connection name (sick) then choose the IPv4 setting tab and change the "Method" field to **Manual**. * Then key in the addresses as below: * Address: `192.168.11.100` * Netmask: `255.255.255.0` * Gateway: `0.0.0.0` Make sure the Wi-Fi is set as first priority. :::warning Check the **Use this connection only for resources on its network** option in **Network** to avoid changes to the settings when you restart the robot. ::: ### Configure the IP address of sensor device * Prepare a Windows PC and download [SOPAS ET](https://www.sick.com/hk/zf/catalog/digital-services-and-solutions/software/sopas-engineering-tool-32-bit/p/p367244?tab=downloads). * Connect the ethernet cable of SICK to the PC. * Launch SOPAS, then click **Search devices**. Now you will see the information of your SICK device listed on the panel. * Change the **Address** to `192.168.11.71`. > **This step is very important and make sure that the Laser and host PC have different IP addresses e.g. 192.168.11.100 for the PC and 192.168.11.71 for the scanner.** * Save and exit. Plug the cable back to the computer of OREO. * To test the settings, open a terminal and enter the command `nc -z -v -w5 $SCANNERIPADDRESS 2112`. This command is used to check if a TCP connection to the scanner can be established. Please refer [**test connection under Linux**](https://github.com/SICKAG/sick_scan/blob/master/doc/ipconfig/ipconfig.md) for more details. ### Installing driver Reference: https://github.com/SICKAG/sick_scan_xd #### Go to catkin workspace ```shell!= cd ~/catkin_ws/src ``` #### Start building! ```shell!= git clone https://github.com/SICKAG/sick_scan_xd cd .. catkin_make source devel/setup.bash ``` #### Launch it! * First navigate to the launch file `sick_lms_1xx.launch`. Then set the argument `hostname` as `192.168.11.71` (your sensor's IP). * Launch the launch file which is corresponding to your device's model name. ```shell!= roslaunch sick_scan_xd sick_lms_1xx.launch ``` * You can check the scanning result by using `rostopic echo /cloud` or `rviz` (with fixed frame **cloud**). <br> ## ZED2 (RGBD camera) Reference: https://github.com/stereolabs/zed-ros-wrapper ### Prerequisites * Ubuntu 20.04 * ZED SDK >= 4.0.6 and its dependency CUDA (we installed `cuda-11.8` for OREO) * ROS Noetic ### Install ZED SDK * Go to https://www.stereolabs.com/developers/ to download the latest version of the ZED SDK. * Install it. ### Install the ZED ROS wrapper Open a terminal, clone the repository, update the dependencies and build the packages: ```shell!= cd ~/catkin_ws/src git clone --recursive https://github.com/stereolabs/zed-ros-wrapper.git cd ../ rosdep install --from-paths src --ignore-src -r -y catkin_make -DCMAKE_BUILD_TYPE=Release source ./devel/setup.bash ``` ### Run the ZED wrapper ```shell!= roslaunch zed_wrapper zed2.launch ``` You can also run RViz to verify whether the installation is completed. <br> ## Hokuyo URG-04LX ### Reference https://github.com/ros-drivers/urg_node https://github.com/ros-drivers/urg_c https://github.com/ros-perception/laser_proc ### Installation * Install `urg_node`, `urg_c`, and `laser_proc` to ROS Noetic. ```shell!= sudo apt-get install ros-noetic-urg-node sudo apt-get install ros-noetic-urg-c sudo apt-get install ros-noetic-laser-proc ``` * Add a new directory named `hokuyo` in the workspace. ```shell!= cd ~/catkin_ws/src mkdir hokuyo cd hokuyo ``` * Clone the repositories to the folder and build. You just need to build `urg_node` package only. (notice the branch you cloned) ```shell!= git clone -b "melodic-devel" --single-branch https://github.com/ros-drivers/urg_node git clone https://github.com/ros-drivers/urg_c git clone https://github.com/ros-perception/laser_proc rosdep install --from-paths ~/catkin_ws/src --ignore-src cd ~/catkin_ws catkin_make -DCATKIN_WHITELIST_PACKAGES="urg_node" ``` ### Launch Hokuyo #### Prerequisite Before launching the device, we need to get the read/write permission of the USB connection device `/dev/ttyACM0` or `/dev/ttyACM1`. Using the `sudo chmod 777 /dev/ttyACM*` command to grant read and write permissions to all users on ``/dev/ttyACM*`` is more dangerous and not secure. Therefore, we have adopted an alternative approach. By using the `ls -l /dev/tty*` command, we can determine that only the **root** user and the `dialout` group have read and write permissions. Consequently, we have chosen to add the host PC to the dialout group, which allows us to obtain read and write permissions. ```shell!= cd ~ sudo usermod -a -G dialout <username> # append the host <username> to the group `dialout` ``` #### Launch it! * Before start launching, make sure that Hokuyo is connecting with either `/dev/ttyACM0` or `dev/ttyACM1`. (use `udevadm info /dev/ttyACM*` to check) * Open the launch file `urg_lidar.launch` and change the value of the parameter `serial_port` based on the result above. ![](https://hackmd.io/_uploads/rkqigHPMT.png) * Finally, we can start to launch Hokuyo! ```shell!= cd catkin_ws source devel/setup.bash roslaunch urg_node urg_lidar.launch ``` You may visualize the result by using `rviz`. ```shell!= rosrun rviz rviz -f laser ``` <br> ## Intel Realsense D435i (RGBD camera) Reference: https://github.com/IntelRealSense/realsense-ros * Go to the official website above. * Change the branch to `ros1-legacy` which is compatible with Ubuntu 20.04. * Follow the instructions in **Method 1: The ROS distribution**. * Follow the usage instruction **Start the camera node** to check whether the installation is completed.