LocalizationFusionLibrary

In order to be able to run the LocalizationFusionLibrary as a ROS node do the following:

1. Follow the guide below to install Ubuntu 18.04 with ROS melodic in WSL and MobaXterm to open GUIs
2. Create a catkin workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
cd src/
git clone [email protected]:AD-platform/Tools/libraries/localizationfusionlibrary.git  # Clone the library in /catkin_ws/src
cd ~/catkin_ws/
# cp -r path/to/library/localiztionfusionlibrary  ~/catkin_ws/src/ # or copy
catkin_make # Build the ros package

3. In order to start the node on a test bag do

cd ~/catkin_ws/
source devel/setup.bash
roslaunch LocalizationFusionLibrary filter_ros_node_1.launch

Tips and tricks

In order to get autocompletion capabilities for ROS related code and to add VSCode shortcuts for building and running add the folder and files as following:

LocalizationFusionLibrary
├── ...
└── .vscode
    ├── c_cpp_properties.json
    └── settings.json

After following a and b, the workflow looks like:

1. Open library with vscode: code ~/catkin_ws/src/localizationfusionlibrary
2. Build the ROS package: Ctrl + Shift + B
3. Roslaunch a test bag and the filternode: Ctrl + Shift + 3

a. Enable autocomplition for ROS in C++

c_cpp_properties.json

{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**"
            ],
            "defines": [],
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "c11",
            "cppStandard": "c++14",
            "intelliSenseMode": "gcc-x64",
            "compileCommands": "~/catkin_ws/build/compile_commands.json"
        }
    ],
    "version": 4
}

b. Shortcuts for build and run

Add shortcuts to build and run the roslaunch file in file->preferences->Keyboard Shortcuts( or Ctrl + KS) and then

1. Set Tasks: Run Build Task with Ctrl+Shift+B
2. Set Tasks: Run Test Task with Ctrl+Shift+3

tasks.json

{
    "version": "2.0.0",
    "tasks": [
        {
            "label": "catkin_make",
            "type": "shell",
            "command": "catkin_make",
            "args": [
                "-j4",
                "-DCMAKE_BUILD_TYPE=Release",
                "-DCMAKE_EXPORT_COMPILE_COMMANDS=1",
                "-DCMAKE_CXX_STANDARD=14",
                "-C=../../"
            ],
            "problemMatcher": [],
            "group": {
                "kind": "build",
                "isDefault": true
            }
        },
        {
            "label": "launch_test_1",
            "type": "shell",
            "command": "source ../../devel/setup.bash; roslaunch LocalizationFusionLibrary filter_ros_node.launch",
            "problemMatcher": [],
            "group": {
                "kind": "test",
                "isDefault": true
            }
        }
    ]
}

Directory Structure

The directory structure should look like this at the end:

catkin_ws
├── build
├── devel
└── src
    └── LocalizationFusionLibrary
        ├── ...
        ├── .vscode
            ├── c_cpp_properties.json
            └── settings.json
        ├── package.xml
        └── ros_srcs
            ├── ...
            ├── package.xml
            └── CMakeLists.txt

GUIDE

How to make ROS Kinetic/Melodic work on Windows 10

This approach uses Windows Subsystems for Linux, WSL for short.

1. Install Ubnutu 18.04 LTS (for ROS Melodic) or Ubnutu 16.04 LTS (for ROS Kinetic) via WSL in Windows.
2. Open the installed Ubuntu distro you just installed and install ROS on it
3. Install MobaXterm by following the following article
4. Install VSCode and the Remote-WSL plugin.

Update bashrc

Add the following lines to your ~/.bashrc

export DISPLAY=192.168.0.183:0.0 # or whatever you read on MobaXterm
alias open='explorer.exe .'
cd ~

To try out if it works, open MobaXterm and minimize it. In a Linux terminal give xterm. If a graphical window shows up, everythingis working. Now we could even open up other GUIs such as RVIZ or RQT.

Troubleshooting

If faced with error messages related to D-bus read this article

If faced with error related to Segmentation error Segmentation fault (core dumped) add the following to your ~/.bashrc

export LIBGL_ALWAYS_INDIRECT=

The solution was found here

With the help of this

How to make Windows Terminal behave like Terminator from Ubuntu

Open Windows Terminal and press Ctrl+, and copy the setting in profile.json

1. Split vertically: Ctrl+Shift+O
2. Split horizontally: Ctrl+Shift+E
3. Close split: Ctrl+W
4. Move around splits: Alt + up/down/left/right