Nvidia_TX1: add ros install scripts

[rmackay9]

This PR does the following:

• modifies the zed camera setup to download the setup package from my dropbox account. This is a temporary measure until I can figure out why we are unable to download the package from stereolabs.com
• adds new ros install and startup scripts. These are far from perfect but they generally work.

[khancyr]

is that really needed? (maybe tx1 specific ?)

[khancyr]

this isn't really need normally, the first call of catkin_make will init the workspace

[khancyr]

this look strange

[rmackay9]

Yes, it's strange that we need to do the make twice but the first time around the make always fails. I have no idea why at this moment and neither does Dan Pollock..

[khancyr]

I can understand that catkin_make failed due to missing dependencies, or non-generated msg before need, remove the src shouldn't make a difference !
I don't have the hardware to test ... so I will thrust you on that. I make only general comments ! ^^

[griz1112]

I turned that into Stereolabs. They said they would fix in the next release. Its something in either the build or devel directories that get built the first time through. If you save those off from a good build and add them to a new workspace before you try and build it the build will succeed first time through.

[khancyr]

normally, catkin_make should be accessible directly since the setup.bash has been sourced

[khancyr]

roscp rtabmap_ros rtabmap.launch ./zed_rtabmap.launch

[khancyr]

haa understand! you are on the otherside ... well in fact you don't need to be in a workspace to call a .launch . Just roslaunch PATH_TO_FILE/zed_rtabmap.launch will work!

[khancyr]

this step is missing ! something like maybe
sed -i -e "s/rgb/zed/rgb/g" ./zed_rtabmap.launch

[khancyr]

so this is not needed

[peterbarker]

On Mon, 6 Feb 2017, khancyr wrote: sed -i -e "s/rgb/zed/rgb/g" ./zed_rtabmap.launch

I think you mispelt "perl".

[khancyr]

@peterbarker I noob so much at this (point click kid here ^^) ! So I will watch and learn if you got another solution

[khancyr]

About the launch, explicite use roslaunch isn't needed as the first .launch called will bring roscore up. I would recommand the use of a master roslaunch that launch everything needed and https://github.com/clearpathrobotics/robot_upstart to create clean auto launcher for ROS stuff !

[vooon]

I initially use robot_upstart, but then write my own upstart job: https://github.com/vooon/rarog/blob/master/rarog_configs/rpi2/rarog.conf
And i believe, that systemd unit also should be simple (don't understand why people so love daemon-forking-magic while modern init can daemonize and track status without it).

Several run of roslaunch can be replaced with one bringup: https://github.com/vooon/rarog/blob/master/rarog_bringup/launch/robot_bringup.launch

E.g. something like that:

<launch>

<group ns="camera">
  <include file="$(find zed_wrapper)/launch/zed.launch" />
  <!-- node for static tf. but better to use urdf + robot_state_publisher -->
  <include file="$(find rtabmap_ros)/launch/zed_rtabmap.launch">
    <arg name="rtabmap_args" value="--delete_db_on_start" />
    <arg name="depth_topic" value="/camera/zed/depth/depth_registered" />
  </include>
</group>

<!-- other nodes, not in /camera -->
</launch>

[khancyr]

@vooon thanks for the inputs !!
I don't understand if you like or not systemd ! but for me it seems simple for simple thing, so that good !
I point out robot_upstart as it takes plenty parameter (such as run as root, where to log etc.) and when you start ROS it is quite simple to understant how to use it (without digger into what is systemd, realized that you need to set permission, and finally that you need to use upstart of rc.local ...)

[vooon]

@khancyr my opinion, that upstart has better config (DSL, easier to understand), but other is common in both systems. And now major distros are use systemd anyway.
Oh, as i see, robot_upstart now should be called robot_systemd :) But scripts looks same as before.