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RoverBot autopilot

Design Diagram

We use FastDDS to handle communications among modules.

Dependency

Eigen3

git clone https://gitlab.com/libeigen/eigen.git
cd eigen && mkdir build && cd build
cmake ..
sudo make install
  • the above operations will install header lib at: /usr/local/include/eigen3
  • you should do: export EIGEN3_INCLUDE_DIR=/usr/local/include
    • TODO: we should remove this env variable when all platforms install Eigen using the above method, and /usr/local/include is in path by default.

Realsense

Install the sdk according to Official Guide

FastDDS

Dependency:

  • Asio, TinyXML2
sudo apt install libasio-dev libtinyxml2-dev

Please use manual installation:

Before compiling manually Fast DDS you need to clone the following dependencies and compile them using CMake.

  • Fast CDR

    $ git clone https://github.com/eProsima/Fast-CDR.git
$ mkdir Fast-CDR/build && cd Fast-CDR/build
$ cmake ..
$ sudo cmake --build . --target install

  • Foonathan memory

    $ git clone https://github.com/eProsima/foonathan_memory_vendor.git
$ cd foonathan_memory_vendor
$ mkdir build && cd build
$ cmake ..
$ sudo cmake --build . --target install

  • GCC requirements:

On Rabian (RPI), we need to use GCC5 to compile FastDDS (newer GCC would generate errors):

sudo apt-get install gcc-5 g++-5
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 60 --slave /usr/bin/g++ g++ /usr/bin/g++-5
sudo update-alternatives --set gcc "/usr/bin/gcc-5"
  • switch back to gcc-8 to compile RoverBot
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 60 --slave /usr/bin/g++ g++ /usr/bin/g++-8
sudo update-alternatives --set gcc "/usr/bin/gcc-8"

On Ubuntu, use the latest GCC to compiel FastDDS works fine!

Once all dependencies are installed, you will be able to compile and install Fast DDS.

$ git clone https://github.com/eProsima/Fast-DDS.git
$ mkdir Fast-DDS/build && cd Fast-DDS/build
$ cmake ..
$ sudo cmake --build . --target install

Next, install Fast DDS-Gen:

git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git
cd Fast-DDS-Gen
./gradlew assemble

After the above commands, there should be a Java application genreated at ./share/fastddsgen/java/fastddsgen.jar and an executable script at ./scripts/fastddsgen.

Add the script's directory to the system's environment variable PATH to make the script accessible golablly.

Building

CMake version

Requires CMake > 3.12.4:

sudo apt purge cmake
wget https://github.com/Kitware/CMake/releases/download/v3.13.4/cmake-3.13.4.tar.gz
tar zxf cmake-3.13.4.tar.gz
cd cmake-3.13.4
sudo ./bootstrap
sudo make
sudo make install
sudo sudo ln -s /usr/local/bin/cmake /usr/bin/cmake
cmake --version

note: IDL types need to be processed to get C++ classes. This step should have been performed by the developer before updated IDL src files are checked in. To regenerate C++ classes:

cd IDL
./dds-regen.sh

To build RoverBot

mkdir build
cd build
cmake ..
make install
  • remember to switch gcc/g++ version to 8 on RPI:
VERSION=8
sudo rm /usr/bin/gcc
sudo ln /usr/bin/"gcc-$VERSION" /usr/bin/gcc
sudo rm /usr/bin/g++
sudo ln /usr/bin/"g++-$VERSION" /usr/bin/g++

Running

Run RoverBot:

Inside install folder, use the runAll.sh script to launch all DDS processes.

Demo

Video on YouTube

Profiling for single process app

mkdir build
cd build
cmake -DCMAKE_CXX_FLAGS=-pg -DCMAKE_EXE_LINKER_FLAGS=-pg -DCMAKE_SHARED_LINKER_FLAGS=-pg ..
make
# run app with profiling on
sudo ./RoverBot -g [ground control IP running a mavlink-based ground station app (e.g. ggroundcontrol)] -hz [app loop spped, hertz] -t [waypoint reach tolerance, meters]
# generate report
sudo gprof ./RoverBot gmon.out > analysis.txt --line