Alp-609是(shì)瀝拓科技基于(yú)Jetson Orin NX核心板研發(fà)生(shēng)産的(de)一(yī)款高(gāo)性(xìng)能(néng)邊(biān)緣计算平台(tái)，具有(yǒu)強(qiáng)大(dà)的(de)计算能(néng)力和(hé)低(dī)功耗設计，适用(yòng)于(yú)各(gè)種(zhǒng)需要(yào)實(shí)时(shí)邊(biān)緣计算的(de)應(yìng)用(yòng)场(chǎng)景。在(zài)ROS 2（Robot Operating System 2）中(zhōng)部(bù)署(shǔ)Jetson ORIn NX可(kě)以为其(qí)提(tí)供先(xiān)進(jìn)的(de)感(gǎn)知、導航和(hé)控制功能(néng)。
本(běn)文(wén)将介紹在(zài)ROS 2中(zhōng)部(bù)署(shǔ)Jetson ORIn NX的(de)步驟，包(bāo)括安(ān)裝(zhuāng)ROS 2、配置Jetson ORIn NX、編写(xiě)和(hé)調試ROS 2應(yìng)用(yòng)程序等方(fāng)面(miàn)。
在(zài)jetson上(shàng)源碼編譯配置ROS2 humble，需使用(yòng)jetpack5.x版本(běn)的(de)系(xì)統，並(bìng)安(ān)裝(zhuāng)cmake-v3.24.1，還(huán)需要(yào)删除系(xì)統上(shàng)的(de)python3.9只(zhī)保留python3.8，以下(xià)是(shì)在(zài)Jetson Orin NX上(shàng)搭建环(huán)境與(yǔ)源碼編譯安(ān)裝(zhuāng)ROS2 Humble的(de)步驟：
一(yī)、安(ān)裝(zhuāng)ROS2 Humble
1.編譯安(ān)裝(zhuāng)cmake-v3.24.1
sudo apt-get install -y libssl-dev wget https://github.com/Kitware/CMake/releases/download/v3.24.1/cmake-3.24.1.tar.gz tar -zxvf cmake-3.24.1.tar.gz cd cmake-3.24.1 ./bootstrap make -j sudo make install |
運行命令查看(kàn)當前(qián)cmake的(de)版本(běn)
2.卸载(zài)jetpack上(shàng)的(de)python3.9
sudo apt remove *python3.9* |
3.安(ān)裝(zhuāng)ROS2依賴庫
locale # check for UTF-8 sudo apt update && sudo apt install locales sudo locale-gen en_US en_US.UTF-8 sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 export LANG=en_US.UTF-8 locale # verify settings
sudo apt install software-properties-common sudo add-apt-repository universe
sudo apt update && sudo apt install curl sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update && sudo apt install -y \ python3-flake8-docstrings \ python3-pip \ python3-pytest-cov \ ros-dev-tools \ git-lfs \ wget
python3 -m pip install -U \ flake8-blind-except \ flake8-builtins \ flake8-class-newline \ flake8-comprehensions \ flake8-deprecated \ flake8-import-order \ flake8-quotes \ "pytest>=5.3" \ pytest-repeat \ pytest-rerunfailures |
4.安(ān)裝(zhuāng)ROS2环(huán)境並(bìng)源碼編譯ROS2 Humble
mkdir -p ros2_humble/src cd ros2_humble
wget https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos vcs import src < ros2.repos
sudo rosdep init rosdep update rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
colcon build --merge-install |
5.設置自(zì)动加载(zài)ROS2 Humble环(huán)境
cd ros2_humble echo "source $PWD/install/local_setup.bash" >> ~/.bashrc |
6.測試是(shì)否配置成(chéng)功
運行ros2的(de)demo程序測試是(shì)否可(kě)用(yòng)，新(xīn)開(kāi)一(yī)个(gè)終(zhōng)端運行talker demo
再打(dǎ)開(kāi)另(lìng)一(yī)个(gè)終(zhōng)端運行listener demo
可(kě)以看(kàn)到(dào)當前(qián)talker輸出(chū)的(de)數字(zì)與(yǔ)listener接收(shōu)的(de)數字(zì)一(yī)樣(yàng)，證明(míng)ROS2安(ān)裝(zhuāng)成(chéng)功
一(yī)、在(zài)ROS2 Humble配置打(dǎ)開(kāi)imx-219 csi攝像头(tóu)步驟：
1.下(xià)载(zài)在(zài)ROS2上(shàng)調用(yòng)csi攝像头(tóu)的(de)代(dài)碼
1.下(xià)载(zài)用(yòng)于(yú)显示图(tú)像數據(jù)的(de)rqt_image_view工具源碼 mkdir -p ~/csi_camera_ws/src cd ~/csi_camera_ws/src git clone https://github.com/mechasolution/jetson_csi_camera_ros2_driver.git |
2.下(xià)载(zài)用(yòng)于(yú)显示图(tú)像數據(jù)的(de)rqt_image_view工具源碼
git clone https://github.com/ros2-gbp/rqt_image_view-release |
3.修改攝像头(tóu)配置
cd jetson_csi_camera_ros2_driver vim param/csi_camera_ros2_driver.yaml |
根(gēn)據(jù)接入(rù)的(de)csi攝像头(tóu)的(de)id号(hào)和(hé)分(fēn)辨率修改配置文(wén)件(jiàn)，这(zhè)邊(biān)測試的(de)攝像头(tóu)配置如(rú)下(xià)：
4.編譯並(bìng)運行
cd ~/csi_camera_ws colcon build --merge-install source ~/csi_camera_ws/install/local_setup.bash ros2 launch jetson_csi_camera_ros2_driver jetson_csi_camera_ros2_driver.launch.py |
可(kě)在(zài)另(lìng)一(yī)个(gè)終(zhōng)端里(lǐ)運行ros2 run rqt_image_view rqt_image_view打(dǎ)開(kāi)rqt工具，将topic配置为/image_raw可(kě)看(kàn)到(dào)當前(qián)攝像头(tóu)的(de)画面(miàn)
二(èr)、在(zài)ROS2 Humble配置使用(yòng)realsense D415双(shuāng)目攝像头(tóu)
1.安(ān)裝(zhuāng)編譯librealsense所(suǒ)需的(de)依賴庫
sudo apt-get install git \ libssl-dev \ libusb-1.0-0-dev \ libudev-dev \ pkg-config \ libgtk-3-dev \ mesa-common-dev \ libgl1-mesa-dev \ libglu1-mesa-dev \ freeglut3-dev -y |
2.下(xià)载(zài)librealsense源碼並(bìng)編譯安(ān)裝(zhuāng)
git clone https://github.com/IntelRealSense/librealsense.git cd librealsense ./scripts/setup_udev_rules.sh mkdir build && cd build cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DFORCE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA=true make -j$(($(nproc)-1)) && sudo make install |
3.新(xīn)建ROS2工作(zuò)目录(lù)下(xià)载(zài)realsense-ros源碼並(bìng)編譯
mkdir -p ~/ros2_ws/src cd ~/ros2_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development cd ~/ros2_ws
colcon build --merge-install |
4.配置realsense-ros环(huán)境並(bìng)運行
source ~/ros2_ws/install/local_setup.bash ros2 launch realsense2_camera rs_launch.py depth_module.profile:=640x480x15 pointcloud.enable:=true |
打(dǎ)開(kāi)rqt工具，點(diǎn)擊Pluguns -> Visualization -> Image View添加显示框，在(zài)Image View中(zhōng)選擇/camera/color/image_raw實(shí)时(shí)显示图(tú)像數據(jù)，同(tóng)樣(yàng)步驟添加另(lìng)一(yī)个(gè)Image View框選擇/camera/depth/image_rect_raw显示深度(dù)图(tú)像數據(jù)
三(sān)、配置Oradar-MS200激光(guāng)雷(léi)达(dá)
1.創建工作(zuò)目录(lù)
源碼從雷(léi)达(dá)供貨商家(jiā)獲取(qǔ)，或(huò)在(zài)github上(shàng)找(zhǎo)别人(rén)上(shàng)傳的(de)代(dài)碼，这(zhè)里(lǐ)使用(yòng)從雷(léi)达(dá)廠(chǎng)家(jiā)家(jiā)獲取(qǔ)的(de)源碼
mkdir -p ~/lidar_ros_ws/src cp -ar oradar_ros ~/lidar_ros_ws/src/ |
2.将編譯選项修改为ROS2
cd ~/lidar_ros_ws/src/oradar_ros cp package_ros2.xml package.xml vim CMakeLists.txt |
将COMPILE_METHOD修改成(chéng)COLCON
3.配置雷(léi)达(dá)參數
修改oradar_ros/launch/ms200_scan.launch.py文(wén)件(jiàn)
參數名(míng) | 數據(jù)类型 | 描述 |
frame_id | string | 激光(guāng)雷(léi)达(dá)坐标(biāo)系(xì)名(míng)稱。 默認为laser_frame |
scan_topic | string | LaserScan主(zhǔ)题名(míng)。默認为scan |
port_name | string | 激光(guāng)雷(léi)达(dá)串口名(míng)稱。 默認值为/dev/ttyACM0 |
baudrate | int | 雷(léi)达(dá)串口波(bō)特(tè)率.。默認值为230400 |
angle_min | double | 最(zuì)小角(jiǎo)度(dù)，單位(wèi)度(dù)，取(qǔ)值範围[0, 360]。默認值为0 |
angle_max | double | 最(zuì)大(dà)角(jiǎo)度(dù)，單位(wèi)度(dù)，取(qǔ)值範围[0, 360]。默認值为360 |
range_min | double | 最(zuì)小距離，單位(wèi)米(mǐ)，默認值为0.05 |
range_max | double | 最(zuì)大(dà)距離，單位(wèi)米(mǐ)，默認值为20.0 |
clockwise | bool | 配置點(diǎn)雲(yún)方(fāng)向(xiàng)，true为順时(shí)針(zhēn)， false为逆时(shí)針(zhēn)。默認为false |
motor_speed | int | 雷(léi)达(dá)轉(zhuǎn)速，單位(wèi)Hz，取(qǔ)值範围为5~15Hz。默認值为10Hz |
4.編譯並(bìng)運行
cd ~/lidar_ros_ws colcon build --merge-install source install/setup.bash ros2 launch oradar_lidar ms200_scan_view.launch.py |
程序運行成(chéng)功会(huì)自(zì)动打(dǎ)開(kāi)一(yī)个(gè)rviz2窗(chuāng)口
在(zài)rviz2中(zhōng)可(kě)看(kàn)到(dào)實(shí)时(shí)显示ms200獲取(qǔ)的(de)點(diǎn)雲(yún)，若不(bù)显示需根(gēn)據(jù)配置修改左(zuǒ)側的(de)frame和(hé)topic
五(wǔ)、調試和(hé)優化(huà)
完成(chéng)應(yìng)用(yòng)程序編写(xiě)後(hòu)，需要(yào)進(jìn)行調試和(hé)優化(huà)，以确保其(qí)能(néng)夠在(zài)Jetson ORIn NX上(shàng)正(zhèng)确運行並(bìng)达(dá)到(dào)預期的(de)性(xìng)能(néng)。可(kě)以通(tòng)过(guò)觀察ROS 2的(de)日(rì)志信(xìn)息和(hé)Jetson ORIn NX的(de)狀态信(xìn)息来(lái)進(jìn)行調試。在(zài)優化(huà)方(fāng)面(miàn)，可(kě)以通(tòng)过(guò)調整配置參數、優化(huà)代(dài)碼算法(fǎ)等手(shǒu)段(duàn)来(lái)提(tí)高(gāo)系(xì)統的(de)性(xìng)能(néng)和(hé)穩定(dìng)性(xìng)。
六、、總(zǒng)結
本(běn)文(wén)介紹了(le)在(zài)ROS 2中(zhōng)部(bù)署(shǔ)Jetson ORIn NX的(de)步驟，包(bāo)括安(ān)裝(zhuāng)ROS 2、配置Jetson ORIn NX、編写(xiě)ROS 2應(yìng)用(yòng)程序和(hé)調試優化(huà)等方(fāng)面(miàn)。通(tòng)过(guò)按照这(zhè)些(xiē)步驟進(jìn)行操作(zuò)，可(kě)以成(chéng)功地(dì)将Jetson ORIn NX與(yǔ)ROS 2集成(chéng)在(zài)一(yī)起(qǐ)，並(bìng)为其(qí)提(tí)供先(xiān)進(jìn)的(de)感(gǎn)知、導航和(hé)控制功能(néng)。需要(yào)注意(yì)的(de)是(shì)，在(zài)部(bù)署(shǔ)过(guò)程中(zhōng)需要(yào)仔细(xì)檢查每个(gè)步驟的(de)正(zhèng)确性(xìng)，並(bìng)根(gēn)據(jù)實(shí)際應(yìng)用(yòng)需求進(jìn)行相應(yìng)的(de)調整和(hé)優化(huà)。