1 Table of contents
- 1.1 Installing ROS1
- 1.2 Installing the prebuilt ar_monitor package
  - 1.2.1 Download the package:
  - 1.2.2 Installing the package
  - 1.2.3 Run or Launching the ros node:
    - 1.2.3.1 Launching the status_server node:
    - 1.2.3.2 Running the status_server node:
- 1.3 Testing on local packages
2 Running ROS1 kinetic in Docker
3 ROS2 Setup
- 3.1 Installing ROS2
  - 3.1.1 Download the ar_monitor prebuilt package:
- 3.2 Installing the ar_monitor package
  - 3.2.1 Installing the .deb file
  - 3.2.2 Run or Launching the ros node:
    - 3.2.2.1 Launching the status_server node:
    - 3.2.2.2 Running the status_server node:
- 3.3 Testing on local packages
- 3.4 Using the ROS2 ar_monitor Package with ROS1 and Android
4 Running ROS1-ROS2 Docker and the ar_monitor snap package
5 Installing and running ar_monitor package with snap
- - 5.1.1 Installing the snap command:
- 5.2 Downloading and installing the snap file:
- 5.3 Running the snap file
  - 5.3.1 Acknowledgements

Installing ROS1

For ros melodic follow the instructions from this page: http://wiki.ros.org/melodic/Installation/Ubuntu
For ros kinetic follow the instructions from this page: http://wiki.ros.org/kinetic/Installation/Ubuntu
For ros melodic on Raspberry pi 4 follow the instructions from this page: Standalone ROS Setup

Installing the prebuilt ar_monitor package

Download the package:

You can download our package binary package from Bitbucket repo:

For ros melodic: ros-melodic-ar-monitor.deb
For ros kinetic: ros-kinetic-ar-monitor.deb

Installing the package

Open the Downloads folder in a new terminal:

sudo dpkg -i ros-[version]-ar-monitor.deb

Unless not installed explicitly, you should install the rosbridge-server package.

sudo apt-get install ros-[version]-rosbridge-server

Do not forget to source your ros version after opening a new terminal (or place it in the bashrc file for automatic sourcing):

source /opt/ros/[version]/setup.bash

Run or Launching the ros node:

Launching the status_server node:

Open a new terminal:

roslaunch ar_monitor all.launch #you have to install rosbridge_server the rosapi packages

Running the status_server node:

Open a new terminal:

roscore

Open a new tab in terminal:

rosrun ar_monitor status_server.py

Testing on local packages

Open a new terminal:

Launch the status_server node
Calling the service of the node (in a new tab):

rosservice call /ar_status_service "arg: '<package_name>/<launch_file_name>.launch'"

For example:

rosservice call /ar_status_service "arg: 'ar_monitor/all.launch'"

Running ROS1 kinetic in Docker

Installing Docker:

sudo apt-get install docker.io

Pull the docker image:

docker pull ngisystems/ros-kinetic-ar-monitor

Running the docker container:

sudo docker run -it ngisystems/ros-kinetic-ar-monitor

Running the image in multiple terminal:

sudo docker exec -it <container_name> bash #for example sudo docker exec -it d3363b5c0bc4 bash

** In this docker image is included the ardrone_autonomy package for testing.

Example of running the nodes in docker

Open a new terminal:

sudo docker run -it  ngisystems/ros-kinetic-ar-monitor
source /opt/ros/kinetic/setup.bash
roslaunch ar_monitor all.launch

In a new terminal:

sudo docker exec -it  [container] bash
source /opt/ros/kinetic/setup.bash
roslaunch ardrone_autonomy ardrone.launch

Using rosbag for simulating a drone:

Open a new terminal:

sudo docker run -it --network host  ngisystems/ros-kinetic-ar-monitor
roscore

In a new terminal

sudo docker exec -it [container] bash
rosbag play catkin_ws/src/example.bag

In a new terminal

sudo docker exec -it [container] bash
cd catkin_ws
source devel/setup.bash
rosrun ar_monitor_extended status_server.py

In a new terminal you can see the values of the drone

sudo docker exec -it [container] bash
rostopic echo /ardrone/navdata

ROS2 Setup

Installing ROS2

Ros eloquent follow the instructions from this page:https://index.ros.org/doc/ros2/Installation/Eloquent/Linux-Install-Debians/

Do not forget to source your ros version after opening a new terminal (or place it in the bashrc file for automatic sourcing):

source /opt/ros/eloquent/setup.bash

Download the ar_monitor prebuilt package:

You can download our binary package from Bitbucket repo:

For ros eloquent: ros-eloquent-ar-monitor.deb

Installing the ar_monitor package

Installing the .deb file

Open the Downloads folder in a new terminal install first the dependency for the package and the package itself:

sudo apt-get install ros-eloquent-launch-testing
sudo dpkg -i ros-eloquent-ar-monitor.deb

Run or Launching the ros node:

Launching the status_server node:

Open a new terminal:

ros2 launch ar_monitor ar_monitor.launch.py

Running the status_server node:

Open a new terminal:

ros2 run ar_monitor status_server.py

Testing on local packages

Open a new terminal:

Run the status_server node

ros2 run ar_monitor status_server.py

2. Calling the service of the node (in a new tab):

ros2 service call /ar_status_service_ros2 ar_monitor/srv/StatusInfo arg:\ \'<package_name>/<launch_file_name>.launch.py\'

For example :

rosservice call /ar_status_service "arg: 'ar_monitor/all.launch'"

Using the ROS2 ar_monitor Package with ROS1 and Android

Create a new ros2 workspace in a terminal:

mkdir eloquent_ws
cd eloquent_ws
mkdir src
colcon build

Cloning the ROS2AR repo and extract the ros part

cd src
git clone -b ROS2AR-28-ROS2-Adapter --single-branch https://bitbucket.org/NGi-Systems/ros2ar.git
cd ros2ar
cp -r ros/ar_monitor/ ..
cd .. && mv ros2ar/ ~/

Clone the ros1_bridge to the created ros2 workspace:

cd ~/eloquent_ws/src
git clone https://github.com/ros2/ros1_bridge.git
cd ..
sudo apt-get install ros-eloquent-launch-testing-ament-cmake

Build the packages:

source /opt/ros/melodic/setup.bash
source /opt/ros/eloquent/setup.bash
colcon build --packages-select ar_monitor
source install/setup.bash
colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure

Running the all necessary nodes for ROS2AR project with ROS2 adaptor:

Open a new terminal and launch the rosbridge websocket for ROS1

source /opt/ros/melodic/setup.bash
roslaunch rosbridge_server rosbridge_websocket.launch

In a new tab

source /opt/ros/melodic/setup.bash
source /opt/ros/eloquent/setup.bash
cd eloquent_ws
source install/setup.bash
ros2 run ar_monitor status_server.py

In a new tab

source /opt/ros/melodic/setup.bash
source /opt/ros/eloquent/setup.bash
source install/setup.bash
ros2 run ros1_bridge dynamic_bridge

In this way you can access the ar_monitor package both from ROS1 in ROS2 and vice-versa.

Running ROS1-ROS2 Docker and the ar_monitor snap package

Installing Docker:

sudo apt-get install docker.io

Pull the docker image:

docker pull ngisystems/ros-melodic-eloquent-ar-monitor

Running the docker container:

sudo docker run -it --network host ngisystems/ros-melodic-eloquent-ar-monitor

Running the image in multiple terminal:

sudo docker exec -it <container_name> bash #for example sudo docker exec -it d3363b5c0bc4 bash

Example of running the nodes in docker

Open a new terminal:

sudo docker run -it --network host ngisystems/ros-melodic-eloquent-ar-monitor
source /opt/ros/melodic/setup.bash
source /opt/ros/eloquent/setup.bash
cd eloquent_ws
source install/setup.bash
ros2 run ar_monitor status_server.py

In a new tab:

sudo docker exec -it  [container] bash
source /opt/ros/melodic/setup.bash
roslaunch rosbridge_server rosbridge_websocket.launch

In a tab

sudo docker exec -it  [container] bash
source /opt/ros/melodic/setup.bash
source /opt/ros/eloquent/setup.bash
cd eloquent_ws
source install/setup.bash
ros2 run ros1_bridge dynamic_bridge

Installing and running ar_monitor package with snap

Installing the snap command:

sudo apt update
sudo apt install snapd

Downloading and installing the snap file:

Download the snap file from Bitbucket: ros2-ar-monitor.snap

cd Downloads
sudo snap install ros2-ar-monitor.snap --devmode

Running the snap file

ros2-ar-monitor

You might need to run the following variable export in case of complaining against libgtk3:

export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libgtk3-nocsd.so.0

Acknowledgements

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: ROSIN.

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.

ROS1 and ROS2 Setup for ROS2AR

Table of contents

Installing ROS1

Installing the prebuilt ar_monitor package

Download the package:

Installing the package

Run or Launching the ros node:

Launching the status_server node:

Running the status_server node:

Testing on local packages

Running ROS1 kinetic in Docker

Installing Docker:

Pull the docker image:

Running the docker container:

Running the image in multiple terminal:

Example of running the nodes in docker

Using rosbag for simulating a drone:

ROS2 Setup

Installing ROS2

Download the ar_monitor prebuilt package:

Installing the ar_monitor package

Installing the .deb file

Run or Launching the ros node:

Launching the status_server node:

Running the status_server node:

Testing on local packages

Using the ROS2 ar_monitor Package with ROS1 and Android

Create a new ros2 workspace in a terminal:

Cloning the ROS2AR repo and extract the ros part

Clone the ros1_bridge to the created ros2 workspace:

Build the packages:

Running the all necessary nodes for ROS2AR project with ROS2 adaptor:

Running ROS1-ROS2 Docker and the ar_monitor snap package

Installing Docker:

Pull the docker image:

Running the docker container:

Running the image in multiple terminal:

Example of running the nodes in docker

Installing and running ar_monitor package with snap

Installing the snap command:

Downloading and installing the snap file:

Running the snap file

Acknowledgements