Rigel

ROS package for the Rigel robot

Dependencies

• Standard libraries
  • libasio
• ROS packages
  • scout_ros
  • ugv_sdk
  • velodyne
  • realsense-ros/ros1-legacy
  • Lslidar_ROS1_driver/C16_V4.0
  • lslidar_description/ros
  • microstrain_inertial
  • dynamixel_pan_tilt
• ROS packages (optional)
  • fast_lio

Install

sudo apt install ros-$ROS_DISTRO-velodyne ros-$ROS_DISTRO-velodyne-description ros-$ROS_DISTRO-realsense2-camera ros-$ROS_DISTRO-realsense2-description ros-$ROS_DISTRO-microstrain-inertial-driver ros-$ROS_DISTRO-rosserial ros-$ROS_DISTRO-usb-cam
mkdir -p ~/rigel_ws/src
cd ~/rigel_ws/src

# ros pkg
git clone git@github.com:ICE9-Robotics/rigel.git #private repo, requires ssh
git clone https://github.com/agilexrobotics/ugv_sdk.git
git clone https://github.com/agilexrobotics/scout_ros.git
git clone -b C16_V4.0 https://github.com/Lslidar/Lslidar_ROS1_driver.git
git clone -b ros https://github.com/ICE9-Robotics/lslidar_description.git
git clone https://github.com/AnthonyZJiang/scout_diagnostics.git
git clone https://github.com/AnthonyZJiang/dynamixel_pan_tilt.git

# fast_lio
git clone https://github.com/hku-mars/FAST_LIO.git --recurse-submodules

# install fast_lio dependency
cd ~
git clone https://github.com/Livox-SDK/livox_ros_driver.git ws_livox/src
cd ~/ws_livox
catkin_make
source devel/setup.sh

# make all packages
cd ~/rigel_ws
rosdep install --from-paths src -i
catkin_make

echo "source ~/rigel_ws/devel/setup.sh" >> .bashrc

Finally, set the IP Address of the ethernet interface of the onboard computer to 192.168.1.102. Note that this IP address is used to communicate with the Lidars, although it can also be used for ROS_IP.

Run

roslaunch rigel_ros rigel.launch rviz:=true

Control scheme

Note:

1. "Enabl" or "Enable with turbo" is required for all controls
2. The left touch pad for "Pan tilt position" needs to be pressed with some pressure (to trigger a click) to register the control.

3D reconstruction

To view 3D reconstruction

pcl_viewer ~/rigel_ws/src/FAST_LIO/PCD/scans.pcd -ps 3

Press 1-5 to change the colour scheme.