Stereorig_v3

This repository contains the setup files and launch configuration for the Stereorig system.

Jetson setup

Refer to the Jetson_setup.pdf for Jetson setup instructions.

Clone the Repository

git clone https://github.com/AutonomousFieldRoboticsLab/Stereorig_v3.git

Move Config Folder

Move the config folder to your data folder.

Configure the Launch Script

For the secondary Jetson, update launch.sh to use the following ROS 2 launch command:

ros2 launch ros2_bringup stereorig_2.launch.py namespace:="jetson_2"

Change Paths

Change the data and log folder paths in the docker-container.service file

Build the Docker Image

Build the Docker image from the repository directory:

docker build -t abe .

Register the Systemd Service

To automatically start the Docker container on boot, register docker-container.service with systemd.

sudo cp docker-container.service /etc/systemd/system/docker-container.service

sudo systemctl daemon-reload

sudo systemctl enable docker-container.service

sudo systemctl start docker-container.service

Note: Set different ROS_DOMAIN_ID on each computer to decouple ROS, this would address the frame rate drop issue by saving the bandwidth when running multiple Jetsons on the same network.

View Service logs

To monitor the service logs, run:

journalctl -u docker-container.service -f