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. Creating new Packages
      • 1.2.2. Working on Existing Packages
        • Forking the Repository
        • Clone the Repository into the Workspace
        • Install the pre-commit Hooks
        • Create a Pull Request
    • 1.3. Releasing Debian Packages
      • 1.3.1. Create a new Release for an Existing Package
      • 1.3.2. Create a Release for a new Package
  • 2. Getting Started
    • 2.1. Quality of Life features
      • 2.1.1. Useful Shortcuts for Byobu
    • 2.2. ROS Installation
      • 2.2.1. Preparation
      • 2.2.2. Installation
      • 2.2.3. rosdep Initialization
      • 2.2.4. Source the ROS Setup
    • 2.3. Pre-built Packages
      • 2.3.1. Add Sources
      • 2.3.2. rosdep
      • 2.3.3. Installation
    • 2.4. Workspace Setup
      • 2.4.1. Our Workspace Setup
      • 2.4.2. Getting the external packages
        • AprilTag-ROS
        • PlotJuggler
      • 2.4.3. Building the Workspaces
        • Underlay Workspace
        • Main Workspace
        • Auto-Complete
        • Final Check
    • 2.5. PX4 Setup
      • 2.5.1. Building the Firmware
      • 2.5.2. Configure the Firmware
      • 2.5.3. Install px4_msgs
      • 2.5.4. Install Micro-XRCE-DDS-Agent
      • 2.5.5. Running the Micro-XRCE-DDS-Agent
      • 2.5.6. MAVLink Router
    • 2.6. Installing QGroundControl
      • 2.6.1. The Daily Build AppImage
      • 2.6.2. Adding a desktop entry
    • 2.7. Starting Simulation
      • 2.7.1. General Launch Setup
      • 2.7.2. Spawning HippoCampus
      • 2.7.3. Path Following example
    • 2.8. Deploying HippoCampus
      • 2.8.1. Start-Everyting-Check-List
      • 2.8.2. Shutting-Down-Check-List
      • 2.8.3. Final Steps
  • 3. Concepts
    • 3.1. ROS2 Workspace
    • 3.2. Colcon
      • 3.2.1. When and What to Source
      • 3.2.2. How to Build the Workspace when We Autosource the ROS Workspaces
      • 3.2.3. A Quick Remedy for Very Long Commands
      • 3.2.4. A More Flexible Approach
      • 3.2.5. Install the Convenience Scripts
    • 3.3. Pre-built Packages
      • 3.3.1. Why do I need Pre-built Packages?
      • 3.3.2. When not to install Pre-built Packages?
      • 3.3.3. Which Packages can I Install via apt?
    • 3.4. ROS2 Repositories
      • 3.4.1. hippo_core
      • 3.4.2. hippo_simulation
    • 3.5. Automated Deployment
      • 3.5.1. Where can I find the services that are starting the nodes?
      • 3.5.2. How can I tell if my services are alright?
      • 3.5.3. What about optional nodes that I want to run occasionally?
      • 3.5.4. How do I write such a service?
  • 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 24.04 Server 64bit
      • 4.2.1. Modify Cloud-Init
      • 4.2.2. Boot Config
        • I2C
        • UART
      • 4.2.3. Disable Interactive Upgrade
      • 4.2.4. 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
      • 4.6.1. Pinout
  • 5. Time Synchronization
    • 5.1. Server
      • 5.1.1. Setting Up Chrony
    • 5.2. Client
      • 5.2.1. Setting Up Chrony
      • 5.2.2. Check Clock Offset
  • 6. Camera Calibration
  • 7. HippoCampus
    • 7.1. Afro ESC
    • 7.2. Motor Configuration
    • 7.3. FCU Firmware
      • 7.3.1. Building the Firmware
      • 7.3.2. Exiting Bootloader
  • 8. BlueROV
    • 8.1. Deployment
      • 8.1.1. SSH Access
      • 8.1.2. Start the usual Setup
        • Automated start of nodes (bluerov01)
        • Manual start of nodes (bluerov02)
    • 8.2. Build And Flash
      • 8.2.1. Build The Firmware
      • 8.2.2. Flash The Firmware
    • 8.3. Servo And Light
      • 8.3.1. Install PIGPIO
        • Raspbian
        • Ubuntu
      • 8.3.2. Enable The Daemon
        • Ubuntu only
        • Raspbian and Ubuntu
    • 8.4. Alpha Arm
      • 8.4.1. Repositories
    • 8.5. DVL
      • 8.5.1. Related ROS packages
      • 8.5.2. General Information
  • 9. Mixers
  • 10. Buttons
    • 10.1. Buttons
      • 10.1.1. Basic Function
      • 10.1.2. Additional Functions
      • 10.1.3. Display
  • 11. Gantry
    • 11.1. General Information
      • 11.1.1. Coordinate System
      • 11.1.2. Motion Controllers
      • 11.1.3. Motors
    • 11.2. Installation
    • 11.3. Usage
      • 11.3.1. Run the xyz Setup
      • 11.3.2. Home the Motors
      • 11.3.3. Smooth Accelerations in Position Mode
      • 11.3.4. Limit the Motor Velocity in Position Mode
      • 11.3.5. Run a Single Motor
    • 11.4. Motor Node
      • 11.4.1. Publishers
        • ~/position
        • ~/velocity
        • ~/motor_status
      • 11.4.2. Subscriptions
        • ~/setpoint/absolute_position
        • ~/setpoint/relative_position
        • ~/setpoint/velocity
    • 11.5. Raspberry Pi Setup
      • 11.5.1. Requirements
      • 11.5.2. Enable UART
      • 11.5.3. UDEV Rules
  • 12. Qualisys MoCap System
    • 12.1. Camera Settings
      • 12.1.1. Camera Position and Orientation
    • 12.2. Calibration
      • 12.2.1. L-Frame Orientation & Position
      • 12.2.2. Calibration Settings
        • Setting the orientation
        • Setting the translation
      • 12.2.3. Calibration Results
    • 12.3. Tracking Bodies
      • 12.3.1. Marker Setup
      • 12.3.2. Defining A Body
        • Add a Mesh
        • Defining Body Orientation
        • Defining Body Translation
  • 13. Cameras
    • 13.1. IP Cameras (Blick)
      • 13.1.1. Streaming
      • 13.1.2. Save to File
    • 13.2. USB Cameras
      • 13.2.1. MJPEG Capturing
        • Get Available Capture Formats
    • 13.3. Event Cameras
      • 13.3.1. Driver
        • Repower USB
        • Launch
      • 13.3.2. Renderer
        • Launch
    • 13.4. Event Camera Collaboration
      • 13.4.1. The Framework
      • 13.4.2. The Bag Files
        • Converting mcap to sqlite3
        • With Gantry
        • Without Gantry
      • 13.4.3. Reading the Data
        • Concept
        • Run the Example
      • 13.4.4. Visualizing the Events
  • 14. Acoustic Modems
    • 14.1. Time definitions
  • 15. RF Modules
    • 15.1. DVB-T Stick
      • 15.1.1. Firmware Installation
      • 15.1.2. Fix Access Error
  • 16. Path Follower
    • 16.1. Concept
      • 16.1.1. Launch Parameters
      • 16.1.2. Launch with Custom Configuration File
      • 16.1.3. Use one of the Predefined Paths
  • 17. ROS2
    • 17.1. Misc
      • 17.1.1. Build Command
      • 17.1.2. Installing Dependencies
      • 17.1.3. Auto-Complete
      • 17.1.4. Verifying XACRO
    • 17.2. AprilTag
      • 17.2.1. Generate Parameter Files
  • 18. Misc
    • 18.1. x2go
      • 18.1.1. Fix GLX Issues with rviz2
    • 18.2. Forward Gamepad
  • 19. ROS Deprecated
    • 19.1. Getting Started
      • 19.1.1. Installing ROS
        • Preparation
        • Installation
        • rosdep Initialization
        • Catkin Initialization
        • Setting up Catkin Workspace
      • 19.1.2. Installing PX4
        • Get The Code
        • Export Environment Variables
        • Build The Code
        • Sensible Modifications
      • 19.1.3. Installing QGroundControl
        • The Daily Build AppImage
        • Adding a desktop entry
      • 19.1.4. Starting Simulation
        • General Launch Setup
        • Parameter Setup
        • Spawning HippoCampus
        • Path Following example
        • Offboard Mode
        • Arming the Vehicle
      • 19.1.5. Deploying HippoCampus
        • Flashing the PixRacer
        • PX4 Parameters
        • PixRacer Calibration
        • Camera Calibration
        • Launch Setup
        • Offboard Mode
        • Arming the Vehicle
        • Final Steps
    • 19.2. Raspberry Pi 4B Setup
      • 19.2.1. Pre-Boot Configuration
      • 19.2.2. System Configuration
      • 19.2.3. Ethernet Configuration
      • 19.2.4. Quality-of-Life Features
        • The Fast Way
        • The Good Way
      • 19.2.5. ROS Installation
        • Workspace Concept
        • Preparations
        • Setup Workspace
        • Build the Code
        • Initialize User Workspace
      • 19.2.6. ROS Network Setup
      • 19.2.7. Update Catkin Workspace
      • 19.2.8. Install ROS Packages
      • 19.2.9. Install MAVROS
      • 19.2.10. Install Our ROS Packages
      • 19.2.11. Install MIPI Camera Library
        • 32-bit Library
        • 64-bit Library
      • 19.2.12. UART Configuration
        • UART-KERNELS-Pin Mapping
        • Pinout
        • UART Rule
        • Identify KERNELS
      • 19.2.13. USB Configuration
      • 19.2.14. Pinout
    • 19.3. Workflow and Style Guide
      • 19.3.1. Structuring Catkin Packages
        • Python Packages
      • 19.3.2. Using Formatters
        • Python
      • 19.3.3. Writing Launch Files
  • 20. Install Source Dependencies
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