NCRN24

.gitignore

@@ -52,4 +52,10 @@ qtcreator-*
 CATKIN_IGNORE
 
 #vscode
-.vscode
+.vscode
+human_detection/multipose/saved_model.pb
+human_detection/multipose/variables/variables.data-00000-of-00001
+human_detection/multipose/variables/variables.index
+trail_detection_node/trail_detection_node/model/*
+
+*/*.pt

169.254.245-metadata.json

@@ -0,0 +1,337 @@
+{
+    "beam_intrinsics": 
+    {
+        "beam_altitude_angles": 
+        [
+            44.81,
+            43.47,
+            41.87,
+            40.49,
+            38.93,
+            37.54,
+            36.02,
+            34.6,
+            33.1,
+            31.7,
+            30.21,
+            28.82,
+            27.34,
+            25.95,
+            24.48,
+            23.09,
+            21.65,
+            20.25,
+            18.82,
+            17.44,
+            16.03,
+            14.63,
+            13.23,
+            11.84,
+            10.44,
+            9.06,
+            7.67,
+            6.29,
+            4.91,
+            3.52,
+            2.15,
+            0.77,
+            -0.62,
+            -2,
+            -3.37,
+            -4.76,
+            -6.13,
+            -7.54,
+            -8.91,
+            -10.31,
+            -11.67,
+            -13.1,
+            -14.45,
+            -15.9,
+            -17.25,
+            -18.71,
+            -20.05,
+            -21.53,
+            -22.87,
+            -24.36,
+            -25.71,
+            -27.21,
+            -28.56,
+            -30.07,
+            -31.42,
+            -32.97,
+            -34.31,
+            -35.88,
+            -37.23,
+            -38.83,
+            -40.19,
+            -41.81,
+            -43.17,
+            -44.83
+        ],
+        "beam_azimuth_angles": 
+        [
+            10.68,
+            -3.62,
+            10.29,
+            -3.48,
+            9.95,
+            -3.35,
+            9.66,
+            -3.25,
+            9.4,
+            -3.17,
+            9.18,
+            -3.1,
+            8.99,
+            -3.04,
+            8.82,
+            -2.97,
+            8.69,
+            -2.93,
+            8.56,
+            -2.89,
+            8.46,
+            -2.85,
+            8.39,
+            -2.82,
+            8.33,
+            -2.79,
+            8.28,
+            -2.78,
+            8.25,
+            -2.77,
+            8.24,
+            -2.76,
+            8.24,
+            -2.75,
+            8.26,
+            -2.75,
+            8.28,
+            -2.76,
+            8.32,
+            -2.77,
+            8.39,
+            -2.78,
+            8.47,
+            -2.81,
+            8.56,
+            -2.82,
+            8.68,
+            -2.86,
+            8.81,
+            -2.9,
+            8.97,
+            -2.96,
+            9.15,
+            -3.01,
+            9.37,
+            -3.07,
+            9.62,
+            -3.15,
+            9.9,
+            -3.23,
+            10.24,
+            -3.35,
+            10.64,
+            -3.46
+        ],
+        "beam_to_lidar_transform": 
+        [
+            1,
+            0,
+            0,
+            27.67,
+            0,
+            1,
+            0,
+            0,
+            0,
+            0,
+            1,
+            0,
+            0,
+            0,
+            0,
+            1
+        ],
+        "lidar_origin_to_beam_origin_mm": 27.67
+    },
+    "calibration_status": 
+    {
+        "reflectivity": 
+        {
+            "timestamp": "2023-05-05T10:29:30",
+            "valid": true
+        }
+    },
+    "config_params": 
+    {
+        "azimuth_window": 
+        [
+            310000,
+            230000
+        ],
+        "columns_per_packet": 16,
+        "lidar_mode": "1024x20",
+        "multipurpose_io_mode": "OFF",
+        "nmea_baud_rate": "BAUD_9600",
+        "nmea_ignore_valid_char": 0,
+        "nmea_in_polarity": "ACTIVE_HIGH",
+        "nmea_leap_seconds": 0,
+        "operating_mode": "NORMAL",
+        "phase_lock_enable": false,
+        "phase_lock_offset": 0,
+        "signal_multiplier": 1,
+        "sync_pulse_in_polarity": "ACTIVE_HIGH",
+        "sync_pulse_out_angle": 360,
+        "sync_pulse_out_frequency": 1,
+        "sync_pulse_out_polarity": "ACTIVE_HIGH",
+        "sync_pulse_out_pulse_width": 10,
+        "timestamp_mode": "TIME_FROM_INTERNAL_OSC",
+        "udp_dest": "169.254.27.158",
+        "udp_port_imu": 46413,
+        "udp_port_lidar": 56954,
+        "udp_profile_imu": "LEGACY",
+        "udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16"
+    },
+    "imu_intrinsics": 
+    {
+        "imu_to_sensor_transform": 
+        [
+            1,
+            0,
+            0,
+            6.253,
+            0,
+            1,
+            0,
+            -11.775,
+            0,
+            0,
+            1,
+            7.645,
+            0,
+            0,
+            0,
+            1
+        ]
+    },
+    "lidar_data_format": 
+    {
+        "column_window": 
+        [
+            370,
+            142
+        ],
+        "columns_per_frame": 1024,
+        "columns_per_packet": 16,
+        "pixel_shift_by_row": 
+        [
+            30,
+            -10,
+            29,
+            -10,
+            28,
+            -10,
+            27,
+            -9,
+            27,
+            -9,
+            26,
+            -9,
+            26,
+            -9,
+            25,
+            -8,
+            25,
+            -8,
+            24,
+            -8,
+            24,
+            -8,
+            24,
+            -8,
+            24,
+            -8,
+            24,
+            -8,
+            23,
+            -8,
+            23,
+            -8,
+            23,
+            -8,
+            23,
+            -8,
+            24,
+            -8,
+            24,
+            -8,
+            24,
+            -8,
+            24,
+            -8,
+            24,
+            -8,
+            25,
+            -8,
+            25,
+            -8,
+            26,
+            -8,
+            26,
+            -9,
+            27,
+            -9,
+            27,
+            -9,
+            28,
+            -9,
+            29,
+            -10,
+            30,
+            -10
+        ],
+        "pixels_per_column": 64,
+        "udp_profile_imu": "LEGACY",
+        "udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16"
+    },
+    "lidar_intrinsics": 
+    {
+        "lidar_to_sensor_transform": 
+        [
+            -1,
+            0,
+            0,
+            0,
+            0,
+            -1,
+            0,
+            0,
+            0,
+            0,
+            1,
+            36.18,
+            0,
+            0,
+            0,
+            1
+        ]
+    },
+    "ouster-sdk": 
+    {
+        "client_version": "ouster_client 0.10.0",
+        "output_source": "collect_metadata"
+    },
+    "sensor_info": 
+    {
+        "build_date": "2023-07-14T19:57:51Z",
+        "build_rev": "v2.5.2",
+        "image_rev": "ousteros-image-prod-aries-v2.5.2+20230714195410",
+        "initialization_id": 2573214,
+        "prod_line": "OS-0-64-U13",
+        "prod_pn": "840-105460-06",
+        "prod_sn": "662318000056",
+        "status": "RUNNING"
+    }
+}

Arduino/run_microros_agent.sh

@@ -5,4 +5,4 @@ set -x
 cd ~/microros_ws 
 source /opt/ros/humble/setup.bash
 source install/setup.bash
-ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/arduino -v6
+ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0 -v6 ROS_DOMAIN_ID=0

README.md

@@ -9,13 +9,13 @@ Sensor Drivers:
 ```
 cd ~/ros2_ws/src
 git clone https://github.com/TRAILab/TRAILBot.git
-git clone https://github.com/TRAILab/velodyne.git
-git clone https://github.com/TRAILab/ximea-driver.git
-cd ximea-driver
-./tools/install_sdk.sh
+git clone https://github.com/ouster-lidar/ouster-ros.git 
+git clone https://github.com/uleroboticsgroup/yasmin.git
 cd ../..
 ```
-
+**Notes on `ouster-ros`:** 
+1. Modify the Ouster Driver config Files in `~/ros2_ws/src/ouster-ros/config` based on `~/ros2_ws/src/TRAILBot/ouster_config/`. THe `os-azimuth.json` file sets the azimuth window as required (see [ouster-ros issue #227](https://github.com/ouster-lidar/ouster-ros/issues/227))
+2. By default, the ouster-ros launch file launches Rviz2 which may not be required. This can be disabled by setting the default value for `rviz_enable_arg` parameter to `False`. The file is located at`~/ros2_ws/src/ouster-ros/ouster-ros/launch/driver.launch.py`
 
 Seperate Installations and Configurations:
 ============
@@ -66,7 +66,7 @@ ros2 launch trailbot_bringup nav_3D.launch.py
 ```
 3. Full TRAILBOT (snack delivery) mode:
 ```
-ros2 launch trailbot_bringup demo1.launch
+./trailbot_bringup.sh
 ```