This section is not meant for NXP Cup contestants as of now. This is for future developments with NXP Cup.
Setting up the FMU
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
navq-install
Copy $ unzip navq-install.zip and then run the script inside using
Copy $ ./navq-install/navq-install.sh 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
