Repository used for calibrate the Zau mobile manipulator from INESC TEC
To configure the Intel RealSense L515, please run:
sudo apt-get install ros-$ROS_DISTRO-realsense2-camera
And run the following command to define the usb rules for the camera:
sudo wget https://raw.githubusercontent.com/IntelRealSense/librealsense/master/config/99-realsense-libusb.rules -P /etc/udev/rules.d/
If the user us running on a container, this command should be executed at the host system.
To start it, run:
roslaunch zau_bringup intel_l515_bringup.launch
The Intel RealSense T265 uses the same libraries as the L515. If the user didn't configure the L515 yet and wants to use the T265, execute the L515 installation commands.
To start it, run :
roslaunch zau_bringup intel_t265_bringup.launch
To use the Astra cameras, the astra_camera package is needed, which can be installed from https://github.com/orbbec/ros_astra_camera.git.
To launch, use:
roslaunch zau_bringup astra.launch
To use the Velodyne Puck, please configure your ethernet connection, in this case eth0, with the Velodyne by:
sudo ifconfig eth0 192.168.3.100
and by installing:
sudo apt-get install ros-$ROS_DISTRO-velodyne
To run it, please use:
roslaunch zau_bringup VLP16_bringup.launch
To launch the full system run :
roslaunch zau_bringup bringup.launch visualize:=true \
astra_front_video_device:=/dev/video{device_of_front_astra} \
astra_back_video_device:=/dev/video{device_of_back_astra}
If the user doesn't specify the astra's video device, the system will be launched without them.
To check which video device, run (on the host system if using containers):
v4l2-ctl --list-devices
Usually the lower number video device is the correct one.
This procedure is necessary because whenever a device is unplugged, a different video device will be assigned to it when reconnecting.