IPM

Repo

gitlab repo

deepstream container

• clone homography repo
• git submodule init
• git submodule update --progress
• source /opt/ros/eloquent/setup.bash
• build galaxis_lib in library/
  • also run sudo make install
  • in CMakeLists.txt set cmake version to 15 (or whatever version cmake .. asks for), if cmake .. fails
  • in nodes/galaxis_ipm_package/library/IPM/InversePerspectiveMapping.cpp set the right mapPath in the line containing std::string mapPath = "/home/galaxis/carolo-cup/nodes/homography/models/homologies/combinedmap18.bin";
• modify:
  • image_transport.hpp -> image_transport.h
  • same for all other headers
• install realsense sdk
• uninstall sudo apt purge ros-eloquent-librealsense2 (if necessary)
• subscribe to the correct camera image topic

galaxis-dev container

• clone homography repo
• build galaxis_lib in library/
• install realsense sdk
• subscribe to the correct camera image topic

Troubleshooting

1

-- Found rosidl_default_generators: 0.8.0 (/opt/ros/eloquent/share/rosidl_default_generators/cmake)
CMake Error at /usr/local/share/cmake-3.14/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
  Could NOT find FastRTPS (missing: FastRTPS_INCLUDE_DIR FastRTPS_LIBRARIES)
Call Stack (most recent call first):
  /usr/local/share/cmake-3.14/Modules/FindPackageHandleStandardArgs.cmake:378 (_FPHSA_FAILURE_MESSAGE)
  /opt/ros/eloquent/share/fastrtps_cmake_module/cmake/Modules/FindFastRTPS.cmake:95 (find_package_handle_standard_args)
  /opt/ros/eloquent/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c-extras.cmake:7 (find_package)
  /opt/ros/eloquent/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_cConfig.cmake:38 (include)
  /opt/ros/eloquent/share/rosidl_default_generators/cmake/rosidl_default_generators-extras.cmake:21 (find_package)
  /opt/ros/eloquent/share/rosidl_default_generators/cmake/rosidl_default_generatorsConfig.cmake:38 (include)
  CMakeLists.txt:26 (find_package)


-- Configuring incomplete, errors occurred!

• Problem: You are probably running cmake .. inside the wrong directory.
  • Solution: Make sure you are in folder nodes/homography/src/nodes/galaxis_ipm_package/library/build/ when running cmake ...

2

std::runtime_error
Failed to load combinedmap.bin

• change path to models/homologies/combinedmap18.bin in nodes/galaxis_ipm_package/library/IPM/InversePerspectiveMapping.cpp
  • rebuild galaxis_lib after change!
    • use sudo make uninstall followed by make clean and rm -rf build/

3

/root/docker_volume/git/homography/src/nodes/realsense-ros/realsense2_camera/src/ros_sensor.cpp: In member function 'void realsense2_camera::RosSensor::UpdateSequenceIdCallback()':          /root/docker_volume/git/homography/src/nodes/realsense-ros/realsense2_camera/src/ros_sensor.cpp:102:19: error: 'RS2_OPTION_SEQUENCE_ID' was not declared in this scope
     if (!supports(RS2_OPTION_SEQUENCE_ID))                                                                                                                                                   
                   ^~~~~~~~~~~~~~~~~~~~~~                                                                                                  
/root/docker_volume/git/homography/src/nodes/realsense-ros/realsense2_camera/src/ros_sensor.cpp:102:19: note: suggested alternative: 'RS2_OPTION_SHARPNESS'                                   
     if (!supports(RS2_OPTION_SEQUENCE_ID))                                                                                                         
                   ^~~~~~~~~~~~~~~~~~~~~~                                                                                                               
                   RS2_OPTION_SHARPNESS

und

/root/docker_volume/git/homography/src/nodes/realsense-ros/realsense2_camera/src/base_realsense_node.cpp: In member function 'void realsense2_camera::BaseRealSenseNode::setupFilters()':
/root/docker_volume/git/homography/src/nodes/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:187:76: error: 'hdr_merge' is not a member of 'rs2'                                  
     _filters.push_back(std::make_shared<NamedFilter>(std::make_shared<rs2::hdr_merge>(), _parameters, _logger));

und

/root/docker_volume/git/homography/src/nodes/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:188:76: error: 'sequence_id_filter' is not a member of 'rs2'
     _filters.push_back(std::make_shared<NamedFilter>(std::make_shared<rs2::sequence_id_filter>(), _parameters, _logger));

• kommt nur in diesem container, aber nicht in galaxis-dev
• problem: ros-eloquent-librealsense2 war über apt install installiert, sodass colcon build des realsense2_camera ROS2 package failed
  • solution: sudo apt purge ros-eloquent-librealsense2

4

CMake Error at CMakeLists.txt:19 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.

• you have to source /opt/ros/eloquent/setup.bash