I installed Autoware on DRIVE PX2 and used it.
Installing ROS on DRIVE PX2 will make it impossible to acquire the image of the GMSL camera connected to DRIVE PX2.
Installing ros-kinetic-ros-base does not cause problems.
However, installing rviz or rqt will occur.
Please refer to below to install ROS-Kinetic on DPX2.
Install the PDK and flash the target build onto the board as described in the PDK Developer’s Guide
Boot to Ubuntu Unity Desktop
Note: Do not perform “apt-get upgrade” on the target, at any stage
Via Ubuntu GUI, configure Ubuntu to allow package installation from main, restricted, universe and multiverse repositories
Setting locale:
(This is optional. Setting locales explicitly to either of the options mentioned may cause some issues with launching the terminal after a system reboot. So, this step may be skipped in the first try)
sudo update-locale LANG=C LANGUAGE=C LC_ALL=C LC_MESSAGE=POSIX
(or)
export LANGUAGE=en_US.UTF-8
export LANG=en_US.UTF-8
export LC_ALL=en_US.UTF-8
sudo locale-gen en_US.UTF-8
sudo dpkg-reconfigure locales
Setup the keys to authenticate package downloads
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
Update the libssl1.0.0 package to the latest version [1.0.2g-1ubuntu4.6]and install libssl-dev
sudo apt-get install libssl1.0.0/xenial libssl-doc/xenial libssl-dev/xenial
Install the ‘Desktop’ bundle of ROS (contains the ROS Core Framework, plus a set of popular algorithms and sample apps)
sudo apt-get install ros-kinetic-desktop
After successful installation of ROS, set up the environment so that the terminal recognizes ROS.
echo “source /opt/ros/kinetic/setup.bash” >> ~/.bashrc
source ~/.bashrc
Set the library search path for the current shell
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib:/usr/lib/aarch64-linux-gnu
Run some ROS sample apps to verify install success. For example:
VISUALIZING THE ROS TURTLESIM APP WITH RVIZ
From a terminal, run
roslaunch turtle_tf turtle_tf_demo.launch
In a new terminal, run
rviz &
After launching the rviz GUI, change the Fixed frame (found under ‘Global Options’ in the ‘Displays’ section) to ‘world’.
From the display section, Add > By display type > TF
To verify successful connectivity between the turtlesim application and rviz,
move the turtle on the terminal used to run roslaunch (Step1 above) and observe the movement of the turtle frames with respect to the world frame in the rviz GUI
Thank you for your reply.
GMSL camera image can be acquired.
Thank you very much.
Do I have to enter ‘export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib:/usr/lib/aarch64-linux-gnu’ every time?
I modified “ld.so.conf” file and executed ‘ldconfig’, but I cannot set it well.
Do I have to enter ‘export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib:/usr/lib/aarch64-linux-gnu’ every time?
=> I’m not sure if you reboot the system, I think maybe not. Thanks.
I reboot the system.
But, I cannot acquire the camera image unless ‘export xxx’ is input each time.
Also, I noticed that it will become unresponsive when rviz is started.
Should I try re-flashing and re-install ROS and Autoware?
Could you please add “export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib:/usr/lib/aarch64-linux-gnu” in bashrc file?
After modify bashrc file please run this command $source ~/.bashrc
Maybe I think the application will be ran without additional any command. Thanks.
Thanks for your reply.
I added “export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib:/usr/lib/aarch64-linux-gnu” in bashrc file.
Even if I don’t input it every time, it works now.
But, two issues remain.
One is that it does not work from ‘Camera Test’ and ‘DriveNet(live)’ on the desktop.
Another one is that loading the rviz config file will cause rviz to fall.
Do you know the cause?
I am sorry, where is the error log created?
I took a picture of the phenomenon so I will put a link on Google Drive.
I would be pleased if you could check it.
Executing “$sudo ./run” did not change.
I will attach the image of the terminal when the phenomenon occurs, so it would be greatly appreciated if you could check it.
The problem of Rviz has been solved.
The reason is that the data I am trying to display with Rviz was too large.
When reducing the data, the above phenomenon no longer occurs.