IRIS

Getting Started

Workspace setup

1. Create a colcon_ws folder on your computer
2. Create an src folder inside colcon_ws
3. cd into it
   • If you run pwd the output should end with colcon_ws/src
4. Clone IRIS repo:

git clone https://github.com/IllinoisRoboticsInSpace/IRIS IRIS

6. cd into it
   • If you run pwd the output should end with colcon_ws/src/IRIS

Docker Setup

1. Install Docker
   • You may do this any way you wish as long as you have access to the Docker Engine and CLI.
   • If in doubt, download Docker Desktop
2. Checkout IRIS repo docker branch
3. Pick one of the two options below

Manually Create Container and Image

1. Creating and intial connection
   • Run docker build -t iris-image /path/to/your/IRIS/repo to create an image from the Dockerfile
   • Run docker run -it --name iris -v /path/to/your/colcon_ws:/workspaces/colcon_ws iris-image to create a container from the iris-image image
     • You should now be in a remote shell in the new container
   • Run exit in the remote shell to close the connection
2. Connecting in the future
   • Run docker start -ai iris to open container
     • This is what you will do whenever you want to reconnect to the container in the future, don't create a new container and image each time
   • You can open a new terminal connected to the container with docker exec -it iris bash from your computer's terminal
   • Changes you make to /workspaces/colcon_ws in the container will be reflected on your computer's colcon_ws folder and vice versa
3. Develop as you wish (e.g. open your colcon_ws folder in VS Code)

Use VS Code Dev Containers

1. Copy the .devcontainer folder into colcon_ws
2. Open colcon_ws in VS Code
3. Install the Dev Containers extension
4. Run the VS Code command Dev Containers: Reopen in Container
   • You can access the command palette with Ctrl+Shift+P

Note: It is generally advised to run most git commands from a terminal connected to your computer rather than the container

Package Usage

Navigation

ros2 launch navigation-c display.launch.py

RTAB-Map SLAM

Realsense Data Command:

ros2 launch realsense2_camera rs_launch.py enable_accel:=true enable_gyro:=true unite_imu_method:=2

IMU Filter Command:

ros2 run imu_filter_madgwick imu_filter_madgwick_node --ros-args -p use_mag:=false -r /imu/data_raw:=/camera/imu

RTAB-Map Command:

ros2 launch rtabmap_ros rtabmap.launch.py \rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3" \frame_id:=camera_link \rgb_topic:=/camera/color/image_raw \depth_topic:=/camera/depth/image_rect_raw \camera_info_topic:=/camera/color/camera_info \approx_sync:=true \wait_imu_to_init:=true \imu_topic:=/imu/data \rviz:=false \rtabmapviz:=true

RTAB-Map Debug Mode Command:

ros2 launch rtabmap_ros rtabmap.launch.py \rtabmap_args:="--delete_db_on_start" \frame_id:=camera_link \rgb_topic:=/camera/color/image_raw \depth_topic:=/camera/depth/image_rect_raw \camera_info_topic:=/camera/color/camera_info \approx_sync:=true \wait_imu_to_init:=true \imu_topic:=/imu/data \rviz:=true \rtabmapviz:=false \rtabmap_args:="-d --udebug" \launch_prefix:="xterm -e gdb -ex run --args"

End Package Folder Structure

~/colcon_ws/
    build/
    install/
    log/
    src/
        IRIS/