Augmentations
=============

Quadruped GO1 can be upgraded with different sensros and some other
accessories. These upgradations require some modifications in the robot
software which is detailed below.

Ouster Installation
-------------------

.. image:: media/accessories/ouster.png

For the ouster attachment, the following package has to be installed in
the current workspace. The following
`tutorial <https://github.com/ouster-lidar/ouster_example>`__ can be
followed or the provided description.

**Note: This tutorial is to only be followed if the ouster software is
not already pre-installed.**

1. Install dependencies:

.. code:: bash

   sudo apt install -y build-essential libeigen3-dev libjsoncpp-dev  cmake

.. code:: bash
   
   sudo apt install -y ros-$ROS_DISTRO-pcl-ros ros-$ROS_DISTRO-rviz ros-$ROS_DISTRO-tf2-geometry-msgs

2. Create a new folder in your catkin workspace ``src`` folder named ``third_party``:

.. code:: bash

   cd ~/catkin_ws/src
   mkdir third_party
   cd third_party

3. Clone the repository into ``utils``:

.. code:: bash

   git clone --recurse-submodules https://github.com/ouster-lidar/ouster-ros.git

4. Create your workspace afterwhich you can start configuring the Ouster:

.. code:: bash

   cd ..
   catkin build 
   source devel/setup.bash

5. Connect the ouster with an ethernet cable, and follow the
   instructions provided in the `software user
   manual <https://data.ouster.io/downloads/software-user-manual/software-user-manual-v2.1.x.pdf?__hstc=34987006.cb1de7ee767f439860550afae9546056.1627541605983.1629103940919.1629980722413.3&__hssc=34987006.2.1629980722413&__hsfp=1054944347>`__
   chapter 2.

   -  It may take ~5 mins for it to be detected.

6. Next navigate to the ``utils`` (if the ouster pkg is provided by us) and in there open a terminal and run:

.. code:: bash

   chmod +x set_static_ip.py
   python3 set_static_ip.py

7. Then make open up your ethernet connection that is in the settings
   and add a new connection. Give your desired name and then navigate to
   the ``IPv4`` tab. In it change the connection to ``Manual``. In the
   ``Addressess``, give the address as ``192.168.123.2`` and the net
   mask as ``255.255.255.0``, and save. Then connect to this ip.

-  Verify that the computer is receiving data from ouster via:

   catkin build
   source devel/setup.bash

8. Add a new launch file called ``ouster.launch`` to the ouster-ros package in the launch directory, and
   configure the Lidar to your IP and your specifications:

.. code:: bash

   <?xml version="1.0"?>
   <launch>
   
   <arg name="ouster_ns" default="ouster"/>
   <arg name="sensor_hostname" default="192.168.123.35"/>
   <arg name="udp_dest" default="192.168.123.6"/>
   <arg name="lidar_port" default="46481"/>
   <arg name="imu_port" default="45352"/>
   <arg name="udp_profile_lidar" default=""/>
   <arg name="lidar_mode" default="512x10" />
   <arg name="timestamp_mode" default="TIME_FROM_ROS_TIME"/>
   <arg name="metadata" default=""/>
   <arg name="viz" default="false"/>
   <arg name="rviz_config" default="$(find ouster_ros)/config/viz.rviz"/>
   <arg name="tf_prefix" default=""/>
   <include file="$(find ouster_ros)/launch/sensor.launch" pass_all_args="true"/>

   <node pkg="tf" type="static_transform_publisher" name="lidar_to_robot" args="0 0 0.55 0 0 0 /base /os_sensor 100" />

   </launch>

9.  Verify installation via:

.. code:: bash

   roslaunch ouster_ros ouster.launch viz:=true

ZED2 Installation
-----------------

.. image:: media/accessories/zed-2-front.jpg

This procedure requires that the GO1 has access to internet for initial
installation if not done already.

Requirements
~~~~~~~~~~~~

-  Zed Camera
-  Internet connection
-  Access to the Nvidia onboard GO1 (The connectors next to the GO1’s
   head)

Procedure
~~~~~~~~~

1. Verify CUDA 10.2 is installed in the Nvidia Xavier Tegra board.

   -  ``nvcc -V``

2. If not installed follow:

.. code:: bash

   wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin

   sudo mv cuda-ubuntu1804.pin /etc/apt/preferences.d/cuda-repository-pin-600

   wget https://developer.download.nvidia.com/compute/cuda/11.6.0/local_installers/cuda-repo-ubuntu1804-11-6-local_11.6.0-510.39.01-1_amd64.deb

   sudo dpkg -i cuda-repo-ubuntu1804-11-6-local_11.6.0-510.39.01-1_amd64.deb

   sudo apt-key add /var/cuda-repo-ubuntu1804-11-6-local/7fa2af80.pub

   sudo apt-get update

   sudo apt-get -y install cuda

3. Install from the provided QRE package, alternatively you may get the
   latest version and install from ZED SDK

   -  Make sure the Ubuntu version is the 18.04, the CUDA is 10.2, and
      the Nvidia Xavier SDK is selected for your download

4. Build the provided ZED ROS packages.

   -  ``catkin build``

5. Verify installation by running

   -  ``roslaunch zed_wrapper zed2.launch``

   -  ``roslaunch zed_display_rviz display_zed2.launch``

Python3 (ROS-Melodic)
=====================

The buildfarm's binary packages are designed for Python 2 and ROS Melodic. 
Python 3 is not supported by Melodic and is not recommended. ROS Noetic Ninjemys 
is the first ROS 1 version with formal support for Python 3.
However, if unavoidable, there are a few ways to use Python 3 with ROS Melodic.

Option:1 Source Build
---------------------

The first method to run python3 is to build ROS-Melodic from source and configuring for Python3, however, one loses the ability to
use melodic's build farm to automatically install packages.

.. note:: 
   A guide is available on `python3_source_build <https://www.miguelalonsojr.com/blog/robotics/ros/python3/2019/08/20/ros-melodic-python-3-build.html>`__.

Option:2 Virtual Environment
----------------------------

Option 2 is to use catkin's virtual environment to run ros-melodic with python3

.. note:: 
   The package and readme is available on ':roswiki:`catkin_virtualenv`'.

Option:3 Partial Build
----------------------

Option 3 is to use partially build ros-melodic and then integrate it with python3

.. note:: 
   A blog explains how to do this `python3_partial_build <https://medium.com/@beta_b0t/how-to-setup-ros-with-python-3-44a69ca36674>`__.

Option:4 Custom ROSPY
---------------------

Option 4 is to use a customized rospy that works with both python2 and python3

.. note:: 
   The package for it is here `rospypi_simple <https://github.com/rospypi/simple>`__.