Installation instructions no Melodic

Install Ubuntu 18.04 and ROS Melodic. Install these dependencies:

$ sudo apt install python-catkin-tools python-wstool libgoogle-glog-dev ros-melodic-mavros-msgs libgflags-dev
$ sudo apt install libvulkan-dev libglm-dev

Create a catkin_ws folder:

$ mkdir -p catkin_ws/src
$ cd catkin_ws

Set-up the workspace:

$ catkin init
$ catkin config --extend /opt/ros/melodic
$ catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
$ catkin config --merge-devel

Clone the dependencies:

$ cd ~/catkin_ws/src
$ wstool init
$ wstool merge vulkan_glasses_for_robots/dependencies.rosinstall
$ wstool up -j8

Then build the workspace:

$ cd ~/catkin_ws
$ catkin build

Setup Noetic in a docker

Setting up the Build Environment using Docker

If your operating system doesn't support ROS 1 noetic, docker is a great alternative.

First, create the image, with the build context at the root of this repo

docker build --file docker/Dockerfile --tag vrg-ros1 .

You can see the image exists:

docker images
>>> REPOSITORY                TAG       IMAGE ID       CREATED        SIZE
>>> vrg-ros1                  latest    5565f845ab4f   2 weeks ago    1.1MB

Next, run the image, mounting in the source into a workspace. All the dependencies are now installed.

docker run --network=host -it -v $(pwd):/root/catkin_ws/src/vulkan_glasses_for_robots -w /root/catkin_ws vrg-ros1 bash

Alternatively there is a run_docker.sh script for display setup.

Running the Build

Configure the catkin workspace

catkin config --extend "/opt/ros/noetic"
catkin config --merge-devel

Build the package

catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False
catkin build -j$(nproc) -l$(nproc) 

Running

To be able to visualize some rendering is necessary to have a node publishing camera poses on the topic subscribed by the vrglasses_for_robots_ros node. The script vrglasses_for_robots_ros/scripts/pose_publisher.py is an example for a simple camera pose publisher.

Single model

roslaunch vrglasses_for_robots_ros simple_example.launch file_obj:=/home/lucas/Downloads/textures/oakland_library_semantics/oakland-nj-public-library_v1.r2.obj file_texture:=/home/lucas/Downloads/textures/oakland_library_semantics/oakland_library_texture8k_roof_rgbs.tga

Multiple Models

roslaunch vrglasses_for_robots_ros multiple_model_example.launch model_folder:=/home/lucas/Downloads/textures model_list_file:=/media/secssd/catkin_ws/src/vulkan_glasses_for_robots/vrglasses_for_robots_ros/models/example_model_def_list.txt model_pose_file:=/media/secssd/catkin_ws/src/vulkan_glasses_for_robots/vrglasses_for_robots_ros/models/example_model_poses_list.txt