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setup_local.md

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This document describes how to setup NUC to run PHINIX locally.

Install Ubuntu

  • Follow instructions to install Ubuntu 22.04-iot and GPU drivers here

  • Installation: follow the instructions from here.

Install vim and git

  • sudo apt-get install vim git -y

Setup git

  • Follow this and this to setup git configs.

  • Set up SSH key using this.

Install ROS2 Humble

  • Install ROS2 Humble using the binary version. Follow this.

  • Include source /opt/ros/humble/setup.bash in bashrc.

  • Make sure ROS2 installed correctly by running the talker listener examples explained in the above link.

  • Install colcon for ROS2, follow here.

Install Dependancies

  • sudo sh build_stack_humble.sh

Test With DepthAi Demo

  • To make sure the camera is functioning properly, you can run the DepthAi demo https://github.com/luxonis/depthai#depthai-api-demo-program

Pull External Repos

  • sh setup_code.sh

Build PHINIX

  • Source ROS2 source /opt/ros/humble/setup.bash
  • Build PHINX colcon build
  • Source your install folder source install/setup.bash

Launch all nodes at once with launch.py

  • ros2 launch phinix_launch phinix.launch.py camera_model:=OAK-D-PRO-W