ros_phantom_intelligence

LiDAR integration for ROS This package has been tested on Ubuntu 16.04 and 18.04 with, respectively, ROS Kinetic and ROS Melodic.

Building and Running this package

1. Install the following elements:

• ros-"distro"-desktop-full

• canlib (linux link)

• python-pip:

  sudo apt-get install python-pip
  

• run pip command:

  pip install --upgrade setuptools
  

• conan

  pip install conan
  

• cmake version >= 5 (latest release preferred).

  download and extract the cmake files, open terminal

  ./bootstrap
  make
  sudo make install
  

• gcc-8 and g++8

  Needed only for ubuntu 16.04.

  sudo apt-get update
  sudo apt-get install build-essential software-properties-common -y
  sudo add-apt-repository ppa:ubuntu-toolchain-r/test -y
  sudo apt-get install gcc-8 g++-8
  sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 60 --slave /usr/bin/g++ g++ /usr/bin/g++-8
  

• edit conan profile:

  nano ~/.conan/profiles/default
  

  Replace its content by the following lines (or add the missing lines):

  [settings]
  os=Linux
  os_build=Linux
  arch=x86_64
  arch_build=x86_64
  compiler=gcc
  compiler.version=8
  compiler.libcxx=libc++11
  build_type=Release
  [options]
  [build_requires]
  [env]
  

2. Create a ros/catkin workspace if you don't have one already:

   Here, ros_ws refers to the ros/catkin workspace.

   mkdir -p ros_ws/src
   cd ros_ws
   source /opt/ros/melodic/setup.bash
   catkin_make
   source devel/setup.bash
   

3. Clone the ros_phantom_intelligence repo:

   cd src
   git clone git@github.com:PhantomIntelligence/ros_phantom_intelligence.git  
   # OR 
   git clone https://github.com/PhantomIntelligence/ros_phantom_intelligence.git
   

4. Build it

   cd ..
   catkin_make 
   

5. (Optional) Build and run the tests

   catkin_make run_tests_phantom_intelligence
   

6. (Required to run a gazebo-simulated Lidar)

   cp -a src/ros_phantom_intelligence/src/lidar_description/. ~/.gazebo/models/
   

Usage with real sensors

.launch file and parameters

The .launch files are named after the different sensors.

• device_location is the location of the sensor on your machine. The format of the location depends of the sensor you use.
  For awl sensors, which uses CAN to communicate, the value represent the can channel number.

Usage with simulated sensors

1. Source the ws after making it.

   source ~/ros_ws/devel/setup.bash
   

2. Launch the launch file.

   roslaunch phantom_intelligence awl16_gazebo.launch
   

The simulated sensor now publishes sensor data under the ros topic named /awl16.

Example

Note: Make sure you are in a terminal which has source <your_ros_ws>/devel/setup.bash and also make sure that you have built the ros_phantom_intelligence package.

1. Find out which sensor model you are using.

   AWL16 will be used for this example.

2. To start the sensor node, run:

roslaunch phantom_intelligence awl16.launch device_location:=0

Simultaneous use of multiple sensors is not yet supported by this package.

Running tests

Note: Make sure you are in a terminal which has source <your_ros_ws>/devel/setup.bash and also make sure that you have built the ros_phantom_intelligence package.

roslaunch phantom_intelligence run_tests.launch