Rove Photo-realistic Mapping

This repository is more of a test (as of writing these lines) than anything, this is figure to change.

Prerequisites:

• Livox MID 360
• ROS 2 humble
• Vectornav VN-300

How to build:

For first build:

cd src/livox_ros_driver2
./build.sh humble
cd ../../
source install/setup.bash

For subsequent builds:

colcon build --symlink-install --packages-ignore livox_ros_driver2 && source install/setup.bash

or use alias rosbuild if on the jetson

How to run

ros2 launch rove_color_mapping run.launch.py

Rosbag

To record a bag, use:

ros2 bag record -a -o my_recording

To replay a bag to rebuild a rtabmap map, use:

ros2 bag play my_recording --topics \
  /livox/lidar \
  /livox/lidar/deskewed \
  /livox/imu \
  /imu/data \
  /imu/data_raw \
  /imu/mag \
  /imu/pressure \
  /imu/temperature \
  /scan \
  /input_scan \
  /input_scan/deskewed \
  /gps/fix \
  /fix \
  /tf \
  /tf_static \
  /joint_states \
  /robot_description

Test out rtsp gst-launch-1.0
rtspsrc location=rtsp://192.168.2.33:554/ latency=0 protocols=tcp
drop-on-latency=true is-live=true
! application/x-rtp,media=video,encoding-name=H265
! rtph265depay
! h265parse config-interval=-1
! avdec_h265
! videoconvert
! queue max-size-buffers=1 leaky=downstream
! autovideosink sync=false

And then in a seperate terminal run:
```bash
ros2 launch rove_color_mapping run.launch.py use_sim_time:=True