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Setting up NavQ for use on the NXP Cup Car
This section is not meant for NXP Cup contestants as of now. This is for future developments with NXP Cup.
Run this on an Ubuntu 20.04 machine.
$ 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
$ 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
$ 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 #
To flash NavQ with a fresh image, follow the instructions on the page linked below:
FTP the zip file linked below to NavQ, then unzip using
navq-install.zip
10KB
Binary
navq-install
$ unzip navq-install.zip
and then run the script inside using
$ ./navq-install/navq-install.sh
Install ROS2 camera tools so we can publish camera data to the
/image
topic. Use$ 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
nxp_cup_vision
and then build it using the commands below$ 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
$ echo "~/ros2src/install/setup.bash" >> .bashrc
You should have everything installed now.
Spin up the camera publisher by running the command below
$ ros2 run image_tools cam2image --ros-args -p device_id:=0 -p width:=640 -p height:=480
Spin up the vision code by running
$ ros2 run nxp_cup_vision nxp_track_vision
Last modified 2yr ago