CG2111a 2425 Sem 2 Grp 1A Repo

clone this on a Linux system (others might not work)

Start Script

Start script runs a tmux panel that runs teleop, slam node, camera stream server

build start script

chmod +x start_script.sh

run the start script

./start_script.sh

Alternatively, run the below commands:

Commands

1. Open Alex/alex.ino in Arduino IDE, flash to Arduino mega328p

2. SSH into the RPi,

cd pi
g++ alex-pi.cpp serial.cpp serialize.cpp -pthread -out alex-main
./alex-main

3. Start the camera server, do step a first, then

cd slam_rpicam_env
python AlexCameraStreamServer.py

Access the camera feed via http://localhost:8080

4. Start the SLAM node, do step a first, then

cd slam_rpicam_env
python labs/SlamLabs/alex-main.py

Access SLAM visualisation via http://localhost:8181

Sourcing the SLAM/camera server env

To build the env:

sudo chmod +x setup_environment.sh
sudo ./setup_environment.sh

a. In a new terminal, source the env (used for SLAM and camera server)

cd slam_rpicam_env
source env/bin/activate