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