HippoCampusDocs

Contributing

  • Contributing to Documentation
    • Forking the Repository
    • Make your Changes
    • Build the Docs locally
    • View the HTML output
    • Autogenerate Documentation
  • Contributing to HippoCampus
    • Creating new Packages
    • Working on Existing Packages
      • Forking the Repository
      • Clone the Repository into the Workspace
      • Install the pre-commit Hooks
      • Create a Pull Request
  • Releasing Debian Packages
    • Create a new Release for an Existing Package
    • Create a Release for a new Package

Concepts

  • ROS2 Workspace
  • Colcon
    • When and What to Source
    • How to Build the Workspace when We Autosource the ROS Workspaces
    • A Quick Remedy for Very Long Commands
    • A More Flexible Approach
    • Install the Convenience Scripts
  • Pre-built Packages
    • Why do I need Pre-built Packages?
    • When not to install Pre-built Packages?
    • Which Packages can I Install via apt?
  • ROS2 Repositories
    • hippo_core
    • hippo_simulation
  • Automated Deployment
    • Where can I find the services that are starting the nodes?
    • How can I tell if my services are alright?
    • What about optional nodes that I want to run occasionally?
    • How do I write such a service?

Getting Started

  • Quality-of-Life Features
    • The Fast Way
      • Useful Shortcuts for Byobu
    • The Good Way
      • zsh
      • Byobu
      • VIM
  • ROS Installation
    • Preparation
    • Installation
    • rosdep Initialization
    • Source the ROS Setup
    • A Brief Test (Optional)
  • Pre-built Packages
    • Add Sources
    • rosdep
    • Installation
  • Workspace Setup
    • Our Workspace Setup
    • Getting the external packages
      • AprilTag-ROS
      • PlotJuggler
    • Building the Workspaces
      • Underlay Workspace
      • Main Workspace
        • Core packages
        • DVL
        • Resolving dependencies
      • Auto-Complete
      • Final Check
  • Starting Simulation
    • General Launch Setup
    • Spawning HippoCampus
    • Path Following example
  • PX4 Setup
    • Building the Firmware
    • Configure the Firmware
    • Install px4_msgs
    • Install Micro-XRCE-DDS-Agent
    • Running the Micro-XRCE-DDS-Agent
    • MAVLink Router
  • Installing QGroundControl
    • The Daily Build AppImage
    • Adding a desktop entry
  • Deploying HippoCampus
    • Start-Everyting-Check-List
    • Shutting-Down-Check-List
    • Final Steps

Raspberry Pi Setup

  • Quality-of-Life Features
  • Ubuntu 24.04 Server 64bit
    • Modify Cloud-Init
    • Boot Config
      • I2C
      • UART
    • Disable Interactive Upgrade
    • Create Workspace
      • Concept
  • Pinout
  • UART Configuration
    • Enable UARTs
    • UART-KERNELS-Pin Mapping
    • Pinout
    • UART Rule
    • Identify KERNELS
  • USB Configuration
  • Ethernet
    • Pinout

Hardware + Work in the Lab

  • HippoCampus
    • Afro ESC
    • Motor Configuration
    • FCU Firmware
      • Building the Firmware
      • Exiting Bootloader
  • BlueROV
    • Deployment
      • SSH Access
      • Start the usual Setup
        • Automated start of nodes (bluerov01)
        • Manual start of nodes (bluerov02)
    • Build And Flash
      • Build The Firmware
      • Flash The Firmware
    • Servo And Light
      • Install PIGPIO
        • Raspbian
        • Ubuntu
      • Enable The Daemon
        • Ubuntu only
        • Raspbian and Ubuntu
    • Alpha Arm
      • Repositories
    • DVL
      • Related ROS packages
      • General Information
    • Full UVMS Setup
      • Installation Setup
        • What packages are needed?
  • Gantry
    • General Information
      • Coordinate System
      • Motion Controllers
      • Motors
    • Installation
    • Usage
      • Run the xyz Setup
      • Home the Motors
      • Smooth Accelerations in Position Mode
      • Limit the Motor Velocity in Position Mode
      • Run a Single Motor
    • Motor Node
      • Publishers
        • ~/position
        • ~/velocity
        • ~/motor_status
      • Subscriptions
        • ~/setpoint/absolute_position
        • ~/setpoint/relative_position
        • ~/setpoint/velocity
    • Raspberry Pi Setup
      • Requirements
      • Enable UART
      • UDEV Rules
  • Qualisys MoCap System
    • Camera Settings
      • Camera Position and Orientation
    • Calibration
      • L-Frame Orientation & Position
      • Calibration Settings
        • Setting the orientation
        • Setting the translation
      • Calibration Results
    • Tracking Bodies
      • Marker Setup
      • Defining A Body
        • Add a Mesh
        • Defining Body Orientation
        • Defining Body Translation
  • Cameras
    • IP Cameras (Blick)
      • Streaming
      • Save to File
    • USB Cameras
      • MJPEG Capturing
        • Get Available Capture Formats
    • Event Cameras
      • Driver
        • Repower USB
        • Launch
      • Renderer
        • Launch
    • Event Camera Collaboration
      • The Framework
      • The Bag Files
        • Converting mcap to sqlite3
        • With Gantry
        • Without Gantry
      • Reading the Data
        • Concept
        • Run the Example
      • Visualizing the Events
  • Buttons
    • Buttons
      • Basic Function
      • Additional Functions
      • Display
  • RF Modules
    • DVB-T Stick
      • Firmware Installation
      • Fix Access Error

Miscellaneous

  • Time Synchronization
    • Server
      • Setting Up Chrony
    • Client
      • Setting Up Chrony
      • Check Clock Offset
  • Camera Calibration
  • Mixers
  • Path Follower
    • Concept
      • Launch Parameters
      • Launch with Custom Configuration File
      • Use one of the Predefined Paths
  • ROS2
    • Misc
      • Build Command
      • Installing Dependencies
      • Auto-Complete
      • Verifying XACRO
    • AprilTag
      • Generate Parameter Files
  • Misc
    • x2go
      • Fix GLX Issues with rviz2
    • Forward Gamepad
  • Install Source Dependencies

Deprecated

  • ROS Deprecated
    • Getting Started
      • Installing ROS
        • Preparation
        • Installation
        • rosdep Initialization
        • Catkin Initialization
        • Setting up Catkin Workspace
      • Installing PX4
        • Get The Code
        • Export Environment Variables
        • Build The Code
        • Sensible Modifications
      • Installing QGroundControl
        • The Daily Build AppImage
        • Adding a desktop entry
      • Starting Simulation
        • General Launch Setup
        • Parameter Setup
        • Spawning HippoCampus
        • Path Following example
        • Offboard Mode
        • Arming the Vehicle
      • Deploying HippoCampus
        • Flashing the PixRacer
        • PX4 Parameters
        • PixRacer Calibration
        • Camera Calibration
        • Launch Setup
        • Offboard Mode
        • Arming the Vehicle
        • Final Steps
    • Raspberry Pi 4B Setup
      • Pre-Boot Configuration
      • System Configuration
      • Ethernet Configuration
      • Quality-of-Life Features
        • The Fast Way
        • The Good Way
      • ROS Installation
        • Workspace Concept
        • Preparations
        • Setup Workspace
        • Build the Code
        • Initialize User Workspace
      • ROS Network Setup
      • Update Catkin Workspace
      • Install ROS Packages
      • Install MAVROS
      • Install Our ROS Packages
      • Install MIPI Camera Library
        • 32-bit Library
        • 64-bit Library
      • UART Configuration
        • UART-KERNELS-Pin Mapping
        • Pinout
        • UART Rule
        • Identify KERNELS
      • USB Configuration
      • Pinout
    • Workflow and Style Guide
      • Structuring Catkin Packages
        • Python Packages
      • Using Formatters
        • Python
      • Writing Launch Files
HippoCampusDocs
  • HippoCampus
  • Edit on GitHub
  • Project Page

HippoCampus

Contents:

  • Afro ESC
  • Motor Configuration
  • FCU Firmware
Previous Next

© Copyright 2020-2025, Thies Lennart Alff, Nathalie Bauschmann.

Built with Sphinx using a theme provided by Read the Docs.