# Husky setting 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]

## Joystick setting

==port==
* `/dev/input/js0`
* test the joystick :
* `jstest /dev/input/js0`
* modify `husky/husky_control/config/teleop_ps4.yaml` and replace line 13 `dev: /dev/input/ds4x` as `dev: /dev/input/js0`

==control==
* modify `husky/husky_base/launch/base.launch` and replace line 29 `/dev/prolific ` as `dev/ttyUSB0`
* `roslaunch husky_base base.launch`
* hold LB/RB on joystick and push left analog stick control the velocity and turn rate.

## PX4 imu setting
#### Install Mavros

sudo apt-get install ros-melodic-mavros ros-melodic-mavros-extras screen openssh-server git

# 如果出現：GeographicLib exception: File not readable...
sudo /opt/ros/melodic/lib/mavros/install_geographiclib_datasets.sh

# about serial port problem
sudo usermod -a -G tty "USER_name"
    ex: sudo usermod -a -G tty ncrl
sudo usermod -a -G dialout "USER_name"

# 更改為fcu_url:="/dev/ttyACM0:921600"
sudo gedit /opt/ros/melodic/share/mavros/launch/px4.launch
# 配合Qground的parameter裡的baud rate也需要改

# 如果出現：FCU: DeviceError:serial:open: Permission denied
chmod 777 /dev/ttyACM0

# test 
roslaunch mavros px4.launch
# 確認是否回傳 IMU detected 和 /mavros/imu/data_raw
# 如果沒有回傳就斷開 pixhawk 的 type C 並重新接上

px4相關設參考：https://hackmd.io/TNvNXB9sQoilNvrLHINYDw
## Lidar Velodyne VLP16 setting
使用網路線連接lidar與電腦
新增網路:
Address:192.168.1.100
Netmask:255.255.255.0
Gateway:0.0.0.0

設定後開啟瀏覽器輸入網址：192.168.1.201

### install ROS dependencies and VLP-16 driver

sudo apt-get install ros-VERSION-velodyne
cd ~/catkin_ws/src/ && git clone https://github.com/ros-drivers/velodyne.git
rosdep install --from-paths src --ignore-src --rosdistro melodic -y
cd ~/catkin_ws/ && catkin_make

### Viewing the data

roslaunch velodyne_pointcloud VLP16_points.launch
#check rostopic 是否有點雲資料
rostopic echo /velodyne_points
#view the data in rviz
rosrun rviz rviz -f velodyne

### rviz設定
1. In the "displays" panel, click "Add", then select "Point Cloud2", then press "OK".
2. In the "Topic" field of the new "Point Cloud2" tab, enter "/velodyne_points".
參考連結:http://wiki.ros.org/velodyne/Tutorials/Getting%20Started%20with%20the%20Velodyne%20VLP16
## 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"/>
## Testing

#開啟手把控制
roslaunch husky_base base.launch
#打開px4 IMU
roslaunch mavros px4.launch
#打開 Lidar
roslaunch velodyne_pointcloud VLP16_points.launch
#開啟ncrl_lio
roslaunch ncrl_lio run.launch

* 須確認行進路徑與rviz上顯示路徑的是否正確