Dotfiles and container for ROVIO

This repo is meant to ease installation of a basic VIO module (ROVIO).

The included Dockerfile produces and image that:

• installs ROS melodic
• installs ROVIO
• installs IntelRealsense2
• sets a display environment (allows for Rviz and other displayed applications)

Requirements

• Docker
• Tested on Ubuntu 18.04

Running via Docker

# set environment variables in .env
make build
make up-display # make up # for no display

Reconmended usages

Bagfiles

Using bagfiles from ETH Zurich

# in one terminal instance, play a rosbag ... ie
rosbag play bags/V1_03_difficult.bag
# in a second terminal instance, launch 
roslaunch rovio rovio_node.launch

D435i

Using Intel Realsense D435i

catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False
source /root/devel/setup.bash
roslaunch hummingbird_bringup bringup.launch

---

Todo

• source workspace on launch
• mount container directories to host system (only mounting bags folder)
• add support for D435i
• simulate with FlightGoggles?
• if many more git repos are used, use something like git subodules, wstool, or rosinstall
• try on raspberry pi
• instead of mounting hummingbird_bringup, copy to the container in the Dockerfile to build during docker build
• fuse imu data (gyro has a faster max fps than the accel but it is throttled to make one imu unified datapoint)
• calibrate camera and imu with Kalibr
• feed raw images into into rovio with calibration instead of rectified images
• disable IR projector on D435i
• convert dockerfile to a multistage build

Current Progress

• 07/19/2020: Uncalibrated D435i with ROVIO