I3DR SBRI Ros workspace

ROS Workspace for SBRI project

Refer to README in i3dr_sbri for usage of i3dr cameras for SBRI project

Refer to README in isi_base for usage of isi hes probe for SBRI project

See repository wiki for in-depth install and run instructions

Install (There is no need to clone the repository)

rosinstall

cd /path/to/repo
wstool init src
wstool merge -t src https://raw.githubusercontent.com/i3drobotics/i3dr_sbri_rosinstall/main/i3dr_sbri.rosinstall
wstool merge -t src https://raw.githubusercontent.com/i3drobotics/i3dr_sbri_rosinstall/main/i3dr_ur.rosinstall
wstool merge -t src https://raw.githubusercontent.com/i3drobotics/i3dr_sbri_rosinstall/main/isi_sbri.rosinstall
wstool update -t src

I3DR stereo algorithm

I3DR Stereo Algorithm is avaiable on request. This is an SGM matching algorithm. Install the phobos_integration.deb, this will install the required files to /usr/local/Phobos. We will provide a license file that must be placed in the folder:

/path/to/repo/devel/lib/i3dr_stereo_camera/YOUR_LICENSE.lic

Build

Catkin Build

cd /path/to/repo
catkin_make

I3DR Stereo Algorithm

To build with the I3DR stereo algorithm use the following command:

catkin_make -DENABLE_I3DR_ALG=ON

Run

Source workspace

cd /path/to/repo
source devel/setup.sh

i3dr packages

See /i3dr/i3dr_sbri/README.md for details on running i3dr SBRI packages

isi packages

See /isi/isi_hes_base/README.md for details on running isi SBRI packages