This section is not meant for NXP Cup contestants as of now. This is for future developments with NXP Cup.
Setting up the FMU
Run this on an Ubuntu 20.04 machine.
Install Fast-DDS
Copy $ cd ~
$ mkdir src && cd src
$ git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v2.0.0 FastRTPS-2.0.0
$ cd FastRTPS-2.0.0
$ mkdir build && cd build
$ cmake -DTHIRDPARTY=ON -DSECURITY=ON ..
$ make
$ sudo make install Install Fast-DDS-Gen
Copy $ cd ~/src
$ git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4 Fast-RTPS-Gen
$ cd Fast-RTPS-Gen
$ ./gradlew assemble
$ sudo ./gradlew install Clone & build PX4-Autopilot from rudislabs repo
Copy $ cd ~/src
$ git clone --recursive https://github.com/rudislabs/PX4-Autopilot.git -b pr-cupcar
$ cd PX4-Autopilot
# Add nxpcup to PX4-Autopilot/boards/nxp/fmuk66-v3/rtps.cmake under EXAMPLES #
$ make nxp_fmuk66-v3_rtps
# Flash your FMU using rtps binary # Setting up NavQ
Flash NavQ with fresh image
To flash NavQ with a fresh image, follow the instructions on the page linked below:
Run setup script to install ROS2 Foxy and microRTPS
FTP the zip file linked below to NavQ, then unzip using
Copy $ unzip navq-install.zip and then run the script inside using
Copy $ ./navq-install/navq-install.sh Install ROS2 camera tools
Install ROS2 camera tools so we can publish camera data to the /image topic. Use
Copy $ sudo apt install ros-foxy-cv-bridge \
ros-foxy-image-tools \
ros-foxy-image-transport \
ros-foxy-image-transport-plugins \
ros-foxy-image-pipeline \
ros-foxy-camera-calibration-parsers \
ros-foxy-camera-info-manager \
ros-foxy-launch-testing-ament-cmake Clone and build `nxp_cup_vision`
Clone nxp_cup_vision and then build it using the commands below
Copy $ cd
$ mkdir ros2src
$ cd ros2src
$ git clone https://github.com/rudislabs/nxp_cup_vision.git
$ colcon build --symlink-install Once that is done, source the setup.bash file
Copy $ echo "~/ros2src/install/setup.bash" >> .bashrc You should have everything installed now.
Running simulated PixyCamera
Running cam2image
Spin up the camera publisher by running the command below
Copy $ ros2 run image_tools cam2image --ros-args -p device_id:=0 -p width:=640 -p height:=480 Running nxp_tack_vision
Spin up the vision code by running
Copy $ ros2 run nxp_cup_vision nxp_track_vision
