env_explr_demo_ws

Source materials for the human-robot collaboration based environment exploration demo

Dependencies

Normally one would invoke

rosdep install --from-paths WORKSPACE --ignore-src --rosdistro=ROSDISTRO

but realsense2 ros wrapper has problems with that: see the issue

hence:

PCL

$ sudo apt install libpcl-dev
$ sudo apt install ros-melodic-pcl-msgs
$ sudo apt install ros-melodic-tf2-eigen

Realsense

https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages

rtabmap_ros

$ sudo apt install ros-melodic-rtabmap-ros
$ sudo apt install ros-kinetic-imu-filter-madgwick

pointcloud_to_laserscan

$ sudo apt install ros-melodic-pointcloud-to-laserscan
$ sudo apt install ros-melodic-octomap
$ sudo apt install ros-melodic-octomap-server

Setting up remote desktop

Adroid device preparation

• Enable developer options on the android device
• Install a VNC viewer app, such as this

Operator PC preparation

Install Android Debug Bridge and a VNC server on the Operator PC

$ sudo apt install android-tools-adb android-tools-fastboot
$ sudo apt install x11vnc

Running and viewing the remote desktop via USB

On Operator PC

• Start the VNC server: $ x11vnc
• Connect the android device to Operator PC via USB
• Forward android device port 5900 to Operator PC port 5900 $ adb reverse tcp:5900 tcp:5900

On the android device

• Open the VNC viewer app
• Set the connection to
  • Address: localhost::5900
  • Name: Operator PC