Refactor/Rebase Efforts

A place for us to refactor for the code base and plan out its inner workings and how each function will work with each other (what data will be processed, the return values, documentation, variable naming, Level-2 Data flow diagram showing its inner workings, and a few other things). The sole reason we are performing this is to make the program more streamlined along with making it more understandable for people in the future when we inevitably pass it on.

Files That Exceed Github's File Size Limits

PDC files for the experiments: Here

Old Code Base: Here

Referenced Repositories

Hierarchical-Localization

Authors

• @Etoragon
• @TaylorBrown96
• @oTinoSan
• @MrBHerring
• @TobyyW
• @xodezzio

Installation Guide

This guide provides detailed instructions for setting up the necessary environment and dependencies for your project on a Jetson device.

Prerequisites

Ensure that your system has the following:

• A compatible Jetson device (e.g., Jetson Nano, TX2)
• Access to terminal with admin (sudo) permissions

Setup Instructions

1. System Dependencies

To update your system and install necessary packages such as venv and nmap, open a terminal and execute the following commands:

sudo apt-get update
sudo apt-get install python3-venv
sudo apt-get install -y nmap

2. Python Environment Setup

Always create environments in the Environments directory at home. If there is not an Environments directory, create one. Create and activate your Python virtual environment. Install the required Python packages using bash. Make sure to set parameter 'include-system-site-packages' to 'true', if you would like to have capabilities of the external TurtleBot environment. Our numpy is currently downloaded from this Jetson-Nano repo. Below is an example of an environment creation for collection_env.

cd ~/Environments
python3 -m venv collection_env
cd collection_env
nano pyvenv.cfg    #optional
include-system-site-packages = true    #make sure to safe the file
source ~/home/jetson/Environments/multirobot_env/bin/activate
pip install 'https://github.com/jetson-nano-wheels/python3.6-numpy-1.19.4/releases/download/v0.0.2/numpy-1.19.4-cp36-cp36m-linux_aarch64.whl'
pip install -r requirements.txt

3. ZED SDK Installation

To install the ZED SDK on your Jetson device, follow these steps:

1. Download the SDK:

   • Visit the Stereolabs developers release page.
   • Download the ZED SDK for JetPack 4.6.X (L4T 32.7) 4.1 suitable for Jetson Nano, TX2/TX2 NX, and CUDA 10.2. Ensure the file has a .sh extension.

2. Prepare the Installation:

   • Transfer the downloaded .sh file to your Jetson device, preferably in your project directory.

3. Install the SDK:

   • Navigate to the directory containing the downloaded file.
   • Make the installer executable and start the installation process by running:

   sudo chmod +x [Downloaded_SDK_file].sh
   ./[Downloaded_SDK_file].sh

   Replace [Downloaded_SDK_file] with the actual name of your downloaded file.

4. **Download the pyzed api -Navigate to directory of ZED SDK installation and run installation program:

   cd /usr/local/zed/
   python3 get_python_api.py
   

Final Steps

After completing the above steps, ensure that all installations have completed successfully and that the environment variables (if any) are set correctly. Verify the operation of the ZED SDK and nmap by running a simple test command or script that uses these tools.