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Parrot S.L.A.M.dunk ROS Integration

This repository contains the ROS packages already bundled on the Parrot S.L.A.M.dunk.

It can be useful for advanced users who want to understand how the bundled packages work, to modify them or to write a custom subscriber to one of the custom ROS messages.

How to build the node yourself?

Prerequisites

sudo apt-get update
sudo apt-get install build-essential git

ROS indigo:

Prepare Workspace

source /opt/ros/indigo/setup.bash
mkdir -p ~/slamdunk_catkin_ws/src
cd ~/slamdunk_catkin_ws/src
catkin_init_workspace
cd ~/slamdunk_catkin_ws/
catkin_make -j2
source devel/setup.bash

Get slamdunk packages sources

git clone https://github.com/Parrot-Developers/slamdunk_ros.git src/slamdunk_ros
git clone https://github.com/Parrot-Developers/gscam.git src/gscam

Disable slamdunk_node unless you build on Parrot S.L.A.M.dunk

The slamdunk_node and slamdunk_bebop_robot depends on kalamos-context, which is a S.L.A.M.dunk-specific library. To build the slamdunk_ros package outside of the Parrot S.L.A.M.dunk, they need to be disabled.

touch src/slamdunk_ros/slamdunk_node/CATKIN_IGNORE
touch src/slamdunk_ros/slamdunk_bebop_robot/CATKIN_IGNORE

Install

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -y
catkin_make -j2

Note: If you attempt to build for ROS Kinetic, refer to the troubleshooting section about Qt:

Viewing with rqt and rviz

Make sure rviz and rqt are installed:

sudo apt-get install ros-indigo-rviz ros-indigo-rqt ros-indigo-rqt-plot

If you are not on the Parrot S.L.A.M.dunk itself, configure you environment, e.g:

export ROS_MASTER_URI="http://192.168.45.1:11311"
export ROS_HOSTNAME=$(hostname).local

A perspective that plot the gyrometers and accelerometers in rqt:

rqt --perspective-file $(rospack find slamdunk_visualization)/rqt/slamdunk.perspective

To visualize cameras, depthmap, SLAM pose and much more, use rviz:

rviz -d $(rospack find slamdunk_visualization)/rviz/slamdunk.rviz

Troubleshooting

OpenCV compilation issue

You may encounter this error, for example after upgrading a ROS package that depends on OpenCV such as ros-indigo-cv-bridge, ros-indigo-image-geometry or ros-indigo-image-pipeline:

$ catkin_make -j2
...
make[2]: *** No rule to make target `/usr/lib/arm-linux-gnueabihf/libopencv_videostab.so.2.4.8', needed by `/home/slamdunk/catkin_ws/devel/lib/...'.  Stop.
...

This error is due to OpenCV4Tegra version which is slightly different from the OpenCV package provided by Ubuntu. The differences are:

  • version: 2.4.8 => 2.4.13
  • location: /usr/lib/arm-linux-gnueabihf/ => /usr/lib/
  • libopencv_ocl.so.2.4.8: removed

To fix the issue, type:

for file in share/cv_bridge/cmake/cv_bridgeConfig.cmake \
            share/image_proc/cmake/image_procConfig.cmake \
            share/image_geometry/cmake/image_geometryConfig.cmake \
            share/compressed_image_transport/cmake/compressed_image_transportConfig.cmake
do
    sudo sed -e 's#;/usr/lib/arm-linux-gnueabihf/libopencv_ocl.so.2.4.8##' \
        -e 's#/usr/lib/arm-linux-gnueabihf/libopencv_\([[:alnum:]]\+\)\.so\.2\.4\.8#/usr/lib/libopencv_\1.so.2.4.13#g' \
        -i /opt/ros/indigo/$file
done

Visualization packages issues with Qt 4.x

When building the packages against ROS Kinetic, you may have a compilation issue:

$ catkin_make -j2
...
-- ==> add_subdirectory(slamdunk_ros/slamdunk_visualization)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
qmake: could not exec '/usr/lib/x86_64-linux-gnu/qt4/bin/qmake': No such file or directory
CMake Error at /usr/share/cmake-3.5/Modules/FindQt4.cmake:1326 (message):
  Found unsuitable Qt version "" from NOTFOUND, this code requires Qt 4.x
Call Stack (most recent call first):
  slamdunk_ros/slamdunk_visualization/CMakeLists.txt:22 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/gpapin/slamdunk_catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/gpapin/slamdunk_catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
$

Or less obviously, encounter a segmentation fault when running one of the slamdunk_visualization rviz plugins.

These errors happens because rviz uses Qt5 in ROS Kinetic, instead of Qt4 in previous versions.

To fix these issues, turn on the UseQt5 option:

catkin_make -DUseQt5=ON -j2