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Documentation

Manifold Setup

Hardware

Software

  • On boot, a new Manifold requires a lot of updates (this happens automatically and will block apt-get along with get really hot for 15 or so minutes).
  • ROS Kinetic should come pre-installed but feel free to follow the instructions on ROS's wiki.
  • sudo apt install ros-kinetic-rosbridge-server
  • Install Onboard-SDK-ROS
    • We are using Onboard-SDK-ROS commit f424a07, the commit to the master branch right before version 4.0.0 removed support for the M210 RTK v1.4
    • Create a Catkin workspace
      • mkdir catkin_ws
      • cd catkin_ws
      • catkin_init
    • clone the Onboard-SDK-ROS repo into catkin_ws/src
    • cd Onboard-SDK-ROS
    • git checkout f424a07
    • mkdir build
    • cd build
    • cmake ../cmake-modules
    • make
      • If there are any errors regarding LIBUSB, try installing it with sudo apt-get install libusb-1.0-0-dev
    • cd ~/catkin_ws
    • catkin_make

Dependencies:

nema-comms

$sudo apt install ros-{release}-nmea-comms

note:we only test on kinetic,but it should be support on other version.

ffmpeg

$sudo apt install ffmpeg

libusb-1.0-0-dev

$sudo apt install libusb-1.0-0-dev

libsdl2-dev

$sudo apt install libsdl2-dev

opencv3.x

We use OpenCV to show images from camera stream. Download and install instructions can be found at: http://opencv.org. Tested with OpenCV 3.3.0.Suggest using 3.3.0+.

stereo-vision function

Follow the instruction of here.

3.Permission

uart permission

You need to add your user to the dialout group to obtain read/write permissions for the uart communication.

$sudo usermod -a -G dialout ${USER}

Then log out of your user account and log in again for the permissions to take effect.

usb permission

You will need to add an udev file to allow your system to obtain permission and to identify DJI USB port.

$cd /etc/udev/rules.d/
$sudo vi DJIDevice.rules

Then add these content into DJIDevice.rules.

SUBSYSTEM=="usb", ATTRS{idVendor}=="2ca3", MODE="0666"

At last,you need to reboot your computer to make sure it works.

Enabling Advanced Sensing:

- On line 19 of Onboard-SDK-ROS/cmake-modules/External_djiosdkcore.cmake, either turn `-DADVANCED_SENSING=ON`(default) or `OFF`