Dependencies

The following dependencies must be available on your machine

• python
  • agisoft python module
• ROS noetic
  • You can follow along with the Workstation Setup tutorial
• The just command runner

Installation

1. Clone the project:

   git clone --recursive https://git.rwth-aachen.de/zaubentrucker/afp_scan_trajectories.git

2. Build the workspace

   cd afp_scan_trajectories
   catkin_make

Initializing the ROS nodes

There is a justfile that provides a launch command:

./intera.sh sim
just launch

Running the Jupyter Notebooks

There are a few Jupyter notebooks that demonstrate the capabilities of our python modules. To run them, enter the intera environment, switch to their directory and start your jupyter kernel from there.

Here, I just start vscode:

./intera.sh sim
cd src/scan_trajectories/scan_trajectories/src
code .

With the jupyter extensions for vscode installed, and the ROS-nodes initialized, you should be able to run the cells.