diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index c43188824dba5b6ff28e0411760cd8b295fe95aa..f47ca617b8515a478b4ee6debfcb9fd43b131e0f 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -9,6 +9,7 @@
"/usr/include",
"/opt/ros/melodic/include",
"${workspaceFolder}/devel/include",
+ "${workspaceFolder}/devel/include/gl3w",
"${workspaceFolder}/src/charuco_detect/include",
"${workspaceFolder}/src/fiducials/fiducial_slam/include",
"${workspaceFolder}/src/iiwa_com/include",
@@ -16,15 +17,9 @@
"${workspaceFolder}/src/realsense/realsense2_camera/include",
"${workspaceFolder}/src/robo_guide/include",
"${workspaceFolder}/src/robo_guide_imarker/include",
+ "${workspaceFolder}/src/scigl_render/include",
"${workspaceFolder}/src/scigl_render_ros/include",
- "${workspaceFolder}/src/fiducials/fiducial_slam/include",
- "~/.conan",
- "~/.conan/data/eigen/3.3.7/conan/stable/package/5ab84d6acfe1f23c4fae0ab88f26e3a396351ac9/include/eigen3",
- "~/.conan/data/scigl_render/0.6/tuebel/testing/source/include",
- "~/.conan/data/glm/0.9.9.1/g-truc/stable/package/5ab84d6acfe1f23c4fae0ab88f26e3a396351ac9/include",
- "~/.conan/data/gl3w/0.2/tuebel/testing/package/bd296613bdf96784eee27d07e7101fa30484f901/include",
- "~/.conan/data/glfw/3.2.1/bincrafters/stable/package/76480ff7af5ef6b0a1c8bc2444dbd480a5eaef8b/include",
- "~/.conan/data/filter_bay/0.4.3/tuebel/testing/source/include"
+ "${workspaceFolder}/src/fiducials/fiducial_slam/include"
],
"name": "Linux",
"intelliSenseMode": "gcc-x64",
diff --git a/.vscode/launch.json b/.vscode/launch.json
index d5358577ced3018943c218d3b6734208ccc7548f..ed73d034cc36acb094db4bab1880848a387af3b6 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -5,68 +5,11 @@
"version": "0.2.0",
"configurations": [
{
- "name": "Python: Terminal (integrated)",
- "type": "python",
+ "name": "ROS: Launch",
"request": "launch",
- "program": "${file}",
- "console": "integratedTerminal"
- },
- {
- "name": "tracker_node",
- "type": "cppdbg",
- "request": "launch",
- "program": "${workspaceFolder}/devel/lib/robo_guide/tracker_node",
- "args": [],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}",
- "environment": [],
- "externalConsole": true,
- "MIMode": "gdb",
- "setupCommands": [
- {
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ]
- },
- {
- "name": "init_marker",
- "type": "cppdbg",
- "request": "launch",
- "program": "${workspaceFolder}/devel/lib/robo_guide_imarker/init_marker",
- "args": [],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}",
- "environment": [],
- "externalConsole": true,
- "MIMode": "gdb",
- "setupCommands": [
- {
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ]
- },
- {
- "name": "projector_node",
- "type": "cppdbg",
- "request": "launch",
- "program": "${workspaceFolder}/devel/lib/scigl_render_ros/projector_node",
- "args": [],
- "stopAtEntry": false,
- "cwd": "${workspaceFolder}",
- "environment": [],
- "externalConsole": false,
- "MIMode": "gdb",
- "setupCommands": [
- {
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ]
+ "target": "/home/medica/code/robo_guide_ws/src/robo_guide/launch/launch_all.launch",
+ "type": "ros",
+ "preLaunchTask": "source_robo_guide_ws"
}
]
}
\ No newline at end of file
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dd64227a10488078aac236c5a84037440dc39ae
--- /dev/null
+++ b/.vscode/tasks.json
@@ -0,0 +1,12 @@
+{
+ // See https://go.microsoft.com/fwlink/?LinkId=733558
+ // for the documentation about the tasks.json format
+ "version": "2.0.0",
+ "tasks": [
+ {
+ "label": "source_robo_guide_ws",
+ "type": "shell",
+ "command": "source ~/code/robo_guide_ws/devel/setup.bash"
+ }
+ ]
+}
\ No newline at end of file
diff --git a/README.md b/README.md
index 79736c0d3162a788902a2936c3916b9abe7c3124..1fa99394f3bc0986edc29c02b4dfa3a7d8aa16de 100644
--- a/README.md
+++ b/README.md
@@ -95,12 +95,27 @@ IP configuration:
- jetson: 172.31.1.148
- laptop: 172.31.1.149
-Configure on the laptop:
+To enable comfortable remote access setup ssh keys on the laptop and copy them to the jetson.
+It is important to add the jetson to the known hosts:
+
+```bash
+ssh-keygen -t rsa -b 4096 -C "email@example.com"
+ssh-copy-id -i .ssh/id_rsa.pub
+ssh -oHostKeyAlgorithms='ssh-rsa' nvidia@172.31.1.148
+```
+
+Export the environment variables on te laptop (e.g. in .bashrc):
```bash
export ROS_MASTER_URI=http://172.31.1.148:11311 # jetson as master
export ROS_IP=172.31.1.149
```
+And on the jetson:
+```bash
+export ROS_MASTER_URI=http://172.31.1.148:11311 # jetson as master
+export ROS_IP=172.31.1.8
+```
+
Optionally add them to /etc/hosts for easier ssh commands:
```bash
172.31.1.147 iiwa
diff --git a/configure_debug.bash b/configure_debug.bash
old mode 100644
new mode 100755
diff --git a/configure_release.bash b/configure_release.bash
old mode 100644
new mode 100755
diff --git a/jetson_env.sh b/jetson_env.sh
new file mode 100755
index 0000000000000000000000000000000000000000..a8ab0c8210c4f67cd9da8e12009bb9440a55dc7e
--- /dev/null
+++ b/jetson_env.sh
@@ -0,0 +1,12 @@
+#!/usr/bin/env bash
+
+# multi machine setup
+export ROS_MASTER_URI=http://172.31.1.149:11311 # laptop as master
+export ROS_IP=172.31.1.148 # jetson static ip
+# setup display for GL support
+export DISPLAY=:0
+
+# source the workspace
+source /home/nvidia/code/robo_guide_ws/devel/setup.bash
+
+exec "$@"
diff --git a/robo_guide.code-workspace b/robo_guide.code-workspace
index 830cb9c12a34d610e8432a627b967ddc2cb8ebc1..15077d3651928589c259c3cbc9002090ec2e1b3b 100644
--- a/robo_guide.code-workspace
+++ b/robo_guide.code-workspace
@@ -11,71 +11,7 @@
],
"python.pythonPath": "/usr/bin/python",
"files.associations": {
- "*.mb": "markdown",
- "cctype": "cpp",
- "clocale": "cpp",
- "cmath": "cpp",
- "cstdarg": "cpp",
- "cstddef": "cpp",
- "cstdio": "cpp",
- "cstdlib": "cpp",
- "cstring": "cpp",
- "ctime": "cpp",
- "cwchar": "cpp",
- "cwctype": "cpp",
- "array": "cpp",
- "atomic": "cpp",
- "strstream": "cpp",
- "*.tcc": "cpp",
- "chrono": "cpp",
- "complex": "cpp",
- "condition_variable": "cpp",
- "cstdint": "cpp",
- "deque": "cpp",
- "list": "cpp",
- "unordered_map": "cpp",
- "vector": "cpp",
- "exception": "cpp",
- "fstream": "cpp",
- "functional": "cpp",
- "initializer_list": "cpp",
- "iomanip": "cpp",
- "iosfwd": "cpp",
- "iostream": "cpp",
- "istream": "cpp",
- "limits": "cpp",
- "memory": "cpp",
- "mutex": "cpp",
- "new": "cpp",
- "optional": "cpp",
- "ostream": "cpp",
- "ratio": "cpp",
- "sstream": "cpp",
- "stdexcept": "cpp",
- "streambuf": "cpp",
- "string_view": "cpp",
- "system_error": "cpp",
- "thread": "cpp",
- "cinttypes": "cpp",
- "type_traits": "cpp",
- "tuple": "cpp",
- "typeinfo": "cpp",
- "utility": "cpp",
- "csignal": "cpp",
- "bitset": "cpp",
- "future": "cpp",
- "numeric": "cpp",
- "typeindex": "cpp",
- "hash_map": "cpp",
- "hash_set": "cpp",
- "unordered_set": "cpp",
- "*.vs": "cpp",
- "*.frag": "cpp",
- "*.comp": "glsl",
- "*.ipp": "cpp",
- "core": "cpp",
- "numericaldiff": "cpp",
- "string": "cpp"
+ "*.yaml": "home-assistant"
},
"ros.distro": "melodic"
}
diff --git a/src/robo_guide b/src/robo_guide
index c162da0c41f5f146b5cb891412976eb8d2331ec2..bb4dc143c5290519f1dfe2242c15928308120764 160000
--- a/src/robo_guide
+++ b/src/robo_guide
@@ -1 +1 @@
-Subproject commit c162da0c41f5f146b5cb891412976eb8d2331ec2
+Subproject commit bb4dc143c5290519f1dfe2242c15928308120764
diff --git a/src/scigl_render b/src/scigl_render
index 5e5328d30339edb0800eaf0aa456453b5cd74bd3..9a6e8581b2c19681b9a810e8f45b0d2937d30fc9 160000
--- a/src/scigl_render
+++ b/src/scigl_render
@@ -1 +1 @@
-Subproject commit 5e5328d30339edb0800eaf0aa456453b5cd74bd3
+Subproject commit 9a6e8581b2c19681b9a810e8f45b0d2937d30fc9
diff --git a/src/scigl_render_ros b/src/scigl_render_ros
index 9ae7cef21ba84ce354ded67df3850f9fcf568d9e..09eecabbb224cd8bd6da85cab7030f35d069b742 160000
--- a/src/scigl_render_ros
+++ b/src/scigl_render_ros
@@ -1 +1 @@
-Subproject commit 9ae7cef21ba84ce354ded67df3850f9fcf568d9e
+Subproject commit 09eecabbb224cd8bd6da85cab7030f35d069b742