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From a fresh install of ubuntu 20.04.6

Some packages craves a fair amount om installed RAM to build without errors.

A workaround solution if you only have <16Gb RAM; follow this simple instruction to increase your swap (default size 2Gb): increase swap

Make sure your system is up to date and rebooted (if necessary)

sudo apt update && sudo apt upgrade -y
reboot

Install prerequisites:

sudo apt update && sudo apt install git curl liblapack-dev libblas-dev python3-catkin-tools python3-rosinstall-generator python3-osrf-pycommon python3-vcstool python3-wstool python3-rosdep -y

Install ROS Noetic

Add the repository to your sources and install ROS:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update && sudo apt install ros-noetic-desktop-full -y

If it fails the first time, try running the following:

sudo apt update && sudo apt upgrade -y && sudo apt install --fix-missing

Then just run it again

sudo apt update && sudo apt install ros-noetic-desktop-full -y

Source your installation

source /opt/ros/noetic/setup.bash

Mavlink to ROS (MAVROS)

To run the scripts converting mavlink messages to ROS messages.

Condensed version based on mavros installation instructions

Skip this block if you already have a catkin workspace:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin config --init --mkdirs --extend /opt/ros/$ROS_DISTRO --merge-devel --cmake-args -DCMAKE_BUILD_TYPE=Release

Continue with

cd ~/catkin_ws
wstool init src

Mavlink is not distro-specific, so leave the "kinetic" reference as it is.

rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall && rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall

Configure the workspace

wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y

run the install script to install libraries needed

sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

build the workspace

catkin build && source devel/setup.bash

If trouble finds you, follow this instruction by the book: mavros installation instructions

Install the ROS-enabled Event camera driver

# Downloads convenient install scripts
curl -o /tmp/install_event_driver.sh -LO https://raw.githubusercontent.com/discoimp/rpg_dvs_ros/master/install_event_driver.sh && curl -o /tmp/check_prerequisites.sh -LO https://raw.githubusercontent.com/discoimp/rpg_dvs_ros/master/check_prerequisites.sh && chmod +x /tmp/install_event_driver.sh /tmp/check_prerequisites.sh

Checks and asks to install missing dependencies

sudo -E /tmp/check_prerequisites.sh

Create, build and source your workspace

/tmp/install_event_driver.sh

Install Ultimate SLAM

Create the Catkin workspace

mkdir -p ~/uslam_ws/src && cd ~/uslam_ws && catkin init && catkin config --extend /opt/ros/$ROS_DISTRO --cmake-args -DCMAKE_BUILD_TYPE=Release

Clone the repositories

cd src/
git clone http://github.com/discoimp/rpg_ultimate_slam_open.git
vcs-import < rpg_ultimate_slam_open/dependencies.yaml

Build the workspace

catkin build ze_vio_ceres

Source your installation

source ~/uslam_ws/devel/setup.bash

Install resources

Download scripts, QGroundControl and the VirtualHere (USB/IP) client

cd ~/catkin_ws/src/
git clone https://github.com/discoimp/blue-rov2-noetic-interface.git && curl -o ~/catkin_ws/src/blue-rov2-noetic-interface/resources/vhuit64 -LO https://www.virtualhere.com/sites/default/files/usbclient/vhuit64 && curl -o ~/catkin_ws/src/blue-rov2-noetic-interface/resources/QGroundControl.AppImage -LO https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl.AppImage

Make the files executable

chmod +x ~/catkin_ws/src/blue-rov2-noetic-interface/resources/vhuit64
chmod +x ~/catkin_ws/src/blue-rov2-noetic-interface/resources/QGroundControl.AppImage
chmod +x ~/catkin_ws/src/blue-rov2-noetic-interface/resources/status.sh

Add the convenience script to .bashrc

The status.sh script contains the following:

  • Source all above-mentioned workspaces
  • Display status of relevant processes
  • Create shortcuts for launching apps
  • Set the initial Github global settings and let you easily add a github access token for repo access.
    • generate token here

Run the script, follow instructions

echo 'source ~/catkin_ws/src/blue-rov2-noetic-interface/resources/status.sh' >> ~/.bashrc

If problems with the VirtualHere software try this:

(Install USB/IP support)

(not needed for dataset playback, and should have been shipped with Ubuntu 20.04, yet sometimes...) Install Virtual Here

sudo apt install -y build-essential libudev-dev libusb-1.0-0-dev

sudo apt install linux-tools-virtual hwdata linux-tools-$(uname -r) linux-tools-generic libcanberra-gtk-module libcanberra-gtk3-module
sudo update-alternatives --install /usr/local/bin/usbip usbip $(command -v ls /usr/lib/linux-tools/*/usbip | tail -n1) 20
sudo apt update && sudo apt install usbip