svis

This is a meta-project that contains all of the components that create a Simple Visual Inertial Synchronization approach. The components are defined as follows.

• svis: The core algorithmic C++ library that matches camera strobe messages to camera images and gives them a common time based on the teensy clock.
• svis_ros: The ROS wrapper C++ library that handles the input and output from the core svis library.
• svis_teensy: The C and C++ code, dependencies, and utilities that build the teensy driver and allow it to be uploaded to the board.
• svis_cad: The solidworks CAD files for the svis mounting structure.
• svis_pcb: The Eagle PCB files for the svis circuit board.

Dependencies

A list of noteable dependencies can be found below.

• catkin_tools
• Ubuntu 16.04
• ROS Kinetic
• ros-kinetic-pointgrey-camera-driver
• libusb-dev
• flycapture SDK

Use the following commands to install the required apt dependencies.

sudo apt install python-catkin-tools
sudo apt install ros-kinetic-pointgrey-camera-driver
sudo apt install libusb-dev
sudo apt install libc6-i386

Add user to dialout group.

sudo adduser $USER dialout

Use the following commands to install the flycapture SDK.

cd /path/to/svis/svis_ros/scripts
./install_flycapture.sh

Installation Steps:

• Enter sudo password: ["password", Enter]
• Confirm apt package installation: [Enter]
• Install FlyCapture2 SDK: [y, Enter]
• Add udev entry: [y, Enter]
• Enter username: ["username", Enter]
• Confirm username: [y, Enter]
• Add username to flirimaging group: [y, Enter]
• Restart udev daemon: [y, Enter]

Quick Start

The rough outline for running svis is as follows. More details can be found in the individual package README files.

• Build svis and svis_ros code.

mkdir -p /path/to/catkin_ws/src
cd /path/to/catkin_ws/src
git clone http://github.com/jakeware/svis
cd ../
source /opt/ros/kinetic/setup.bash
catkin init
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build

• Build svis_teensy code.

cd ./path/to/svis/svis_teensy/scripts
./build_svis_teensy.sh

• Install the udev rules for the teensy.

sudo cp /path/to/svis/svis_teensy/utilities/49-teensy.rules /etc/udev/rules.d/

• Upload teensy driver. Make sure the teensy's micro USB cable is connected. When prompted, press the program button on the teensy.

cd ./path/to/svis/svis_teensy/scripts
./upload_svis_teensy.sh

• Start the Pointgrey camera driver.

cd /path/to/catkin_ws
source ./devel/setup.bash
roslaunch svis_ros flea3.launch

• Start the svis_ros nodelet.

cd /path/to/catkin_ws
source ./devel/setup.bash
roslaunch svis_ros svis_ros_nodelet.launch