Building ROVTIO

Installing dependencies:

From /external/smores_drone_software:

Build kindr: cmake -S include/src/kindr/ -B include/build/kindr/ -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=include/install/kindr/

Install kindr: cmake --install include/build/kindr/ --config Release

Build lightweight_filtering: cmake -S include/src/lightweight_filtering/ -B include/build/lightweight_filtering/ -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=include/install/lightweight_filtering/

Install lightweight_filtering: cmake --install include/build/lightweight_filtering/ --config Release

Run:

mkdir -p include/install/lightweight_filtering/share && cat > include/install/lightweight_filtering/share/Findlightweight_filtering.cmake << EOF
# This file was automatically generated during the installation of the lightweight_filtering library
# and can be used through cmake to find the corresponding header files. A copy of this
# file was created in /usr/share/cmake/Modules (depending on the CMAKE_ROOT variable).
set(lightweight_filtering_INCLUDE_DIRS $(pwd)/include/install/lightweight_filtering/include/LWF/include )
set(lightweight_filtering_FOUND TRUE)
message("-- LWF found (include: $(pwd)/include/install/lightweight_filtering/include/LWF/include)")
EOF

Building ROVTIO

Run:

colcon build --symlink-install --packages-select rovtio --event-handlers console_direct+ --cmake-force-configure --cmake-args -DCMAKE_CXX_FLAGS="-Wno-error -std=gnu++17" -DCMAKE_C_FLAGS="-Wno-error -std=gnu17" -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_PREFIX_PATH="$(pwd)/include/install/kindr/share/:$(pwd)/include/install/lightweight_filtering/share/" -DCMAKE_MODULE_PATH="$(pwd)/include/install/lightweight_filtering/share/" -Wno-dev -DROVIO_NCAM=2 -DROVIO_NMAXFEATURE=8

Launching ROVTIO

Latest configs are under src/rovtio/cfg/current/

Launch using: ros2 launch src/rovtio/cfg/current/rovtio.phxpro.launch.py

Optionally append > /dev/null to stop logging.

Important

Touch grass.