# Indoor Autonomous Flight with Cube, ROS and Aruco Board (Ongoing) **URL:** \ **Category:** Uncategorized\ **Created:** [1 April 2019 10:09 UTC](https://discuss.cubepilot.org/t/indoor-autonomous-flight-with-cube-ros-and-aruco-board-ongoing/351 "2019-04-01T10:09:19Z")\ **Posts on this page:** 1\ **Showing post:** 8
**Author:** ![Alvin](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/alvin/32/1000_2.png) [@Alvin](https://discuss.cubepilot.org/u/Alvin)\ **Post date:** [2 April 2019 09:14 UTC](https://discuss.cubepilot.org/t/indoor-autonomous-flight-with-cube-ros-and-aruco-board-ongoing/351/8 "2019-04-02T09:14:41Z")
# Install Necessary Packages in ROS ### Install raspicam\_node Detailed procedure can be found [here](https://github.com/UbiquityRobotics/raspicam_node) ##### Installation Detailed procedure can be found [here](https://packages.ubiquityrobotics.com/) Add source to apt lists ```auto sudo sh -c 'echo "deb https://packages.ubiquityrobotics.com/ubuntu/ubiquity xenial main" > /etc/apt/sources.list.d/ubiquity-latest.list' ``` Add signing key to trusted list ```auto sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key C3032ED8 ``` Run ```auto sudo apt-get update ``` ##### Build `catkin_ws` Detailed procedure can be found [here](http://wiki.ros.org/catkin#Installing_catkin/) Jump to next session if you have already installed `catkin_ws` Install pre-built package ```auto sudo apt-get install ros-kinetic-catkin ``` Source your environment ```auto source /opt/ros/kinetic/setup.bash ``` Create a catkin workspace ```auto mkdir -p ~/catkin_ws/src cd ~/catkin_ws/ catkin_make ``` Source your workspace ```auto nano ~/.bashrc ``` Add `source ~/catkin_ws/devel/setup.bash` at the bottom of file. OR Run `source devel/setup.bash` in terminal everytime before running any package in catkin\_ws. ##### Build from Source Go to your catkin\_ws ```auto cd ~/catkin_ws/src ``` Download the source for `raspicam_node` ```auto git clone https://github.com/UbiquityRobotics/raspicam_node.git ``` Create recognizable file for ROS dependencies ```auto sudo touch /etc/ros/rosdep/sources.list.d/30-ubiquity.list sudo nano /etc/ros/rosdep/sources.list.d/30-ubiquity.list ``` Add the following line to the file ```auto yaml https://raw.githubusercontent.com/UbiquityRobotics/rosdep/master/raspberry-pi.yaml ``` Run `rosdep update` Install the ros dependencies ```auto cd ~/catkin_ws rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y ``` Compile the code ```auto catkin_make ``` ##### Run the Node to Confirm Success Installation Most of the camera in the current market shoud be Pi Camera v2 For a V2.x camera, run `roslaunch raspicam_node camerav2_1280x960.launch` For a V1.x camera, run `roslaunch raspicam_node camerav1_1280x720.launch` ### Install OpenCV Detailed procedure can be found [here](https://www.alatortsev.com/2018/09/05/installing-opencv-3-4-3-on-raspberry-pi-3-b/). You may check the time estimation for each procedure in the link. This part is tested workable on 3B and 3B+ only. **Warning: Compiling OpenCV is a CPU-intensive task. Make sure your Raspberry Pi has radiators and a fan (or place a powerful external fan next to it) in order to avoid overheating. The Raspberry Pi would not die from overheating, but overheating will throttle its CPU performance, potentially increasing build time.** **Raspberry Pi will stop responding for several times. Reboot the Pi to continue its work.** **Make sure you have enough time to stick with the Raspberry Pi.** Confirm OS is up-to-date ```auto sudo apt-get update sudo apt-get upgrade ``` Install useful utilities ```auto sudo apt-get install screen sudo apt-get install htop ``` Install dependencies ```auto sudo apt-get install build-essential cmake pkg-config sudo apt-get install libjpeg-dev libtiff5-dev libjasper-dev libpng12-dev sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev sudo apt-get install libxvidcore-dev libx264-dev sudo apt-get install libgtk2.0-dev libgtk-3-dev sudo apt-get install libatlas-base-dev gfortran ``` Install Python 3 ```auto sudo apt-get install python3-dev ``` Install pip3 ```auto sudo apt-get install python3-pip ``` Get **OpenCV 3.2.0** source code ```auto wget -O opencv.zip https://github.com/opencv/opencv/archive/3.2.0.zip wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/3.2.0.zip unzip opencv.zip unzip opencv_contrib.zip ``` Install Numpy, Scipy ```auto sudo pip3 install numpy scipy ``` Compile OpenCV ```auto cd ~/opencv-3.2.0/ mkdir build cd build cmake -D CMAKE_BUILD_TYPE=RELEASE \ -D CMAKE_INSTALL_PREFIX=/usr/local \ -D INSTALL_PYTHON_EXAMPLES=ON \ -D OPENCV_EXTRA_MODULES_PATH=~/opencv_contrib-3.2.0/modules \ -D BUILD_EXAMPLES=ON .. ``` Build OpenCV **The Raspberry Pi will overheat if there is no proper cooling. Reboot the Pi and run the command again if it overheated. The progress will be keep after reboot.** Use all 4 cores to build ```auto make -j4 ``` Once OpenCV builds successfully, continue the installation: ```auto sudo make install sudo ldconfig sudo apt-get update ``` Reboot the Raspberry Pi after installation ```auto sudo reboot ``` ##### Confirm Success Installation Open a terminal, type: ```auto python3 ``` Then run `import cv2` and `cv2. __version__ `. The version of OpenCV will be shown. ### Install aruco\_gridboard Detailed procedure can be found [here](https://github.com/anbello/aruco_gridboard) If OpenCV extra module failed to build, rebuild them with the following codes: ```auto cd cmake -DOPENCV_EXTRA_MODULES_PATH=/modules make -j4 ``` ##### Rebuild `vision_opencv` from source Clone `vision_opencv` in your `catkin_ws/scr` and rebuild everything ```auto cd ~/catkin_ws/src git clone https://github.com/ros-perception/vision_opencv.git cd .. catkin_make -DOpenCV_DIR=/path-to-build-opencv-3.2 ``` If building failed, try ```auto catkin_make -DOpenCV_DIR=/path-to-build-opencv-3.2 -DENABLE_PRECOMPILED_HEADERS=OFF ``` Install dependancies if any of them is missing during the build ```auto sudo apt-get install ros-kinetic-cv-bridge sudo apt-get install ros-kinetic-vision-opencv ``` ##### Check `cv_bridge` version Open a terminal and type: ```auto cd ~/catkin_ws/devel/lib ldd libcv_bridge.so | grep opencv ``` The following result should be shown: ```auto libopencv_core.so.3.2 => /home/jokla/Software/opencv-3.2.0/build/lib/libopencv_core.so.3.2 (0x00007f7acb240000) libopencv_imgcodecs.so.3.2 => /home/jokla/Software/opencv-3.2.0/build/lib/libopencv_imgcodecs.so.3.2 (0x00007f7acaffe000) libopencv_imgproc.so.3.2 => /home/jokla/Software/opencv-3.2.0/build/lib/libopencv_imgproc.so.3.2 (0x00007f7ac97ca000) ``` ##### Clone aruco\_gridboard I modify a lot of things start from here. If you want to know what have I done, following my instructions. If you just want it to work on your system, clone my fork for simplicity. **Simple build:** ```auto cd ~/catkin_ws/src git clone https://github.com/AlphenLai/aruco_gridboard.git cd .. catkin_make source devel/setup.bash ``` Then skip to the next session. **Detailed build:** Clone it into your catkin\_ws and build with catkin\_make ```auto cd ~/catkin_ws/src git clone https://github.com/jokla/aruco_gridboard.git cd .. catkin_make source devel/setup.bash ``` The catkin\_make should failed at this point. Go to `~/catkin_ws/src/aruco_gridboard/data/detector_params.yml` and `~/catkin_ws/src/aruco_gridboard/src/node.cpp` Open them with text editor and replace `cornerRefinementMethod` with `doCornerRefinement` ##### Confirm Success Installation Add the new OpenCV to the path ```auto cd ~/catkin_ws export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/jokla/Software/opencv-3.2.0/build/lib/ ``` Launch the detection node ```auto roslaunch aruco_gridboard detection.launch ``` --- _[View the full topic](https://discuss.cubepilot.org/t/indoor-autonomous-flight-with-cube-ros-and-aruco-board-ongoing/351)._