HippoCampusDocs

Contents:

  • 1. Contributing
    • 1.1. Contributing to Documentation
      • 1.1.1. Forking the Repository
      • 1.1.2. Make your Changes
      • 1.1.3. Build the Docs locally
      • 1.1.4. View the HTML output
      • 1.1.5. Autogenerate Documentation
    • 1.2. Contributing to HippoCampus
      • 1.2.1. Step One
      • 1.2.2. Step Two
      • 1.2.3. Step Three
  • 2. Getting Started
    • 2.1. ROS Installation
      • 2.1.1. Preparation
      • 2.1.2. Installation
      • 2.1.3. rosdep Initialization
    • 2.2. Workspace Setup
      • 2.2.1. Our Workspace Setup
      • 2.2.2. Getting the external packages
        • PX4-msg
        • AprilTag-ROS
        • PlotJugger
      • 2.2.3. Building the Workspaces
        • Underlay Workspace
        • Main Workspace
        • Auto-Complete
        • Final Check
    • 2.3. PX4 Setup
      • 2.3.1. Building the Firmware
      • 2.3.2. Configure the Firmware
      • 2.3.3. Install px4_msgs
      • 2.3.4. Install Micro-XRCE-DDS-Agent
      • 2.3.5. Running the Micro-XRCE-DDS-Agent
      • 2.3.6. MAVLink Router
    • 2.4. Installing QGroundControl
      • 2.4.1. The Daily Build AppImage
      • 2.4.2. Adding a desktop entry
    • 2.5. Starting Simulation
      • 2.5.1. General Launch Setup
      • 2.5.2. Parameter Setup
      • 2.5.3. Spawning HippoCampus
      • 2.5.4. Path Following example
      • 2.5.5. Offboard Mode
      • 2.5.6. Arming the Vehicle
    • 2.6. Deploying HippoCampus
      • 2.6.1. Start-Everyting-Check-List
      • 2.6.2. Shutting-Down-Check-List
      • 2.6.3. Final Steps
  • 3. Concepts
    • 3.1. ROS2 Workspace
    • 3.2. ROS2 Repositories
      • 3.2.1. hippo_core
      • 3.2.2. hippo_simulation
  • 4. Raspberry Pi 4B Setup
    • 4.1. Quality-of-Life Features
      • 4.1.1. The Fast Way
      • 4.1.2. The Good Way
        • zsh
        • Byobu
        • VIM
    • 4.2. Ubuntu 22.04 Server 64bit
      • 4.2.1. Modify Cloud-Init
      • 4.2.2. Boot Config
        • I2C
      • 4.2.3. Create Workspace
        • Concept
    • 4.3. Pinout
    • 4.4. UART Configuration
      • 4.4.1. Enable UARTs
      • 4.4.2. UART-KERNELS-Pin Mapping
      • 4.4.3. Pinout
      • 4.4.4. UART Rule
      • 4.4.5. Identify KERNELS
    • 4.5. USB Configuration
    • 4.6. Ethernet
  • 5. HippoCampus Hardware
    • 5.1. Afro ESC
    • 5.2. Motor Configuration
    • 5.3. FCU Firmware
      • 5.3.1. Building the Firmware
      • 5.3.2. Exiting Bootloader
  • 6. BlueROV
    • 6.1. Deploy Klopsi
      • 6.1.1. SSH Access
      • 6.1.2. Environment Variables Checklist
      • 6.1.3. Start the usual Setup
    • 6.2. Build And Flash
      • 6.2.1. Build The Firmware
      • 6.2.2. Flash The Firmware
    • 6.3. Servo And Light
      • 6.3.1. Install PIGPIO
        • Raspbian
        • Ubuntu
      • 6.3.2. Enable The Daemon
        • Ubuntu only
        • Raspbian and Ubuntu
  • 7. Gantry
    • 7.1. General Information
      • 7.1.1. Coordinate System
      • 7.1.2. Motion Controllers
      • 7.1.3. Motors
    • 7.2. Usage
      • 7.2.1. Run the xyz Setup
      • 7.2.2. Run a Single Motor
    • 7.3. Raspberry Pi Setup
      • 7.3.1. Requirements
      • 7.3.2. Enable UART
      • 7.3.3. UDEV Rules
  • 8. Underwater Camera
    • 8.1. Streaming
    • 8.2. Save to File
  • 9. ROS2
    • 9.1. Misc
      • 9.1.1. Build Command
      • 9.1.2. Installing Dependencies
      • 9.1.3. Auto-Complete
      • 9.1.4. Verifying XACRO
    • 9.2. AprilTag
      • 9.2.1. Generate Parameter Files
  • 10. Misc
    • 10.1. x2go
      • 10.1.1. Fix GLX Issues with rviz2
    • 10.2. Forward Gamepad
  • 11. ROS Deprecated
    • 11.1. Getting Started
      • 11.1.1. Installing ROS
        • Preparation
        • Installation
        • rosdep Initialization
        • Catkin Initialization
        • Setting up Catkin Workspace
      • 11.1.2. Installing PX4
        • Get The Code
        • Export Environment Variables
        • Build The Code
        • Sensible Modifications
      • 11.1.3. Installing QGroundControl
        • The Daily Build AppImage
        • Adding a desktop entry
      • 11.1.4. Starting Simulation
        • General Launch Setup
        • Parameter Setup
        • Spawning HippoCampus
        • Path Following example
        • Offboard Mode
        • Arming the Vehicle
      • 11.1.5. Deploying HippoCampus
        • Flashing the PixRacer
        • PX4 Parameters
        • PixRacer Calibration
        • Camera Calibration
        • Launch Setup
        • Offboard Mode
        • Arming the Vehicle
        • Final Steps
    • 11.2. Raspberry Pi 4B Setup
      • 11.2.1. Pre-Boot Configuration
      • 11.2.2. System Configuration
      • 11.2.3. Ethernet Configuration
      • 11.2.4. Quality-of-Life Features
        • The Fast Way
        • The Good Way
      • 11.2.5. ROS Installation
        • Workspace Concept
        • Preparations
        • Setup Workspace
        • Build the Code
        • Initialize User Workspace
      • 11.2.6. ROS Network Setup
      • 11.2.7. Update Catkin Workspace
      • 11.2.8. Install ROS Packages
      • 11.2.9. Install MAVROS
      • 11.2.10. Install Our ROS Packages
      • 11.2.11. Install MIPI Camera Library
        • 32-bit Library
        • 64-bit Library
      • 11.2.12. UART Configuration
        • UART-KERNELS-Pin Mapping
        • Pinout
        • UART Rule
        • Identify KERNELS
      • 11.2.13. USB Configuration
      • 11.2.14. Pinout
    • 11.3. Workflow and Style Guide
      • 11.3.1. Structuring Catkin Packages
        • Python Packages
      • 11.3.2. Using Formatters
        • Python
      • 11.3.3. Writing Launch Files
HippoCampusDocs
  • Welcome to HippoCampusDocs’s documentation!
  • Edit on GitHub
  • Project Page

Welcome to HippoCampusDocs’s documentation!

Contents:

  • 1. Contributing
    • 1.1. Contributing to Documentation
    • 1.2. Contributing to HippoCampus
  • 2. Getting Started
    • 2.1. ROS Installation
    • 2.2. Workspace Setup
    • 2.3. PX4 Setup
    • 2.4. Installing QGroundControl
    • 2.5. Starting Simulation
    • 2.6. Deploying HippoCampus
  • 3. Concepts
    • 3.1. ROS2 Workspace
    • 3.2. ROS2 Repositories
  • 4. Raspberry Pi 4B Setup
    • 4.1. Quality-of-Life Features
    • 4.2. Ubuntu 22.04 Server 64bit
    • 4.3. Pinout
    • 4.4. UART Configuration
    • 4.5. USB Configuration
    • 4.6. Ethernet
  • 5. HippoCampus Hardware
    • 5.1. Afro ESC
    • 5.2. Motor Configuration
    • 5.3. FCU Firmware
  • 6. BlueROV
    • 6.1. Deploy Klopsi
    • 6.2. Build And Flash
    • 6.3. Servo And Light
  • 7. Gantry
    • 7.1. General Information
    • 7.2. Usage
    • 7.3. Raspberry Pi Setup
  • 8. Underwater Camera
    • 8.1. Streaming
    • 8.2. Save to File
  • 9. ROS2
    • 9.1. Misc
    • 9.2. AprilTag
  • 10. Misc
    • 10.1. x2go
    • 10.2. Forward Gamepad
  • 11. ROS Deprecated
    • 11.1. Getting Started
    • 11.2. Raspberry Pi 4B Setup
    • 11.3. Workflow and Style Guide

Indices and tables

  • Index

  • Module Index

  • Search Page

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