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code review guidelines and additional notes
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Signed-off-by: Aleksander Szymański <[email protected]>
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Bitterisland6 committed Sep 3, 2024
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32 changes: 25 additions & 7 deletions docs/leo-rover/integrations/cameras/unispectral-monarch-pro.mdx
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Expand Up @@ -41,7 +41,7 @@ across multiple industries.

After completing this tutorial, you will have successfully connected a Monarch
Pro stereo camera to the Leo Rover in ROS, and you will possess basic knowledge
about the use of multispectral camera.
about the use of the multispectral camera.

## Prerequisites

Expand All @@ -61,18 +61,36 @@ We have prepared special ROS wrapper for the unispectral's Monarch Pro camera.

### Installing the packages

:::note

We are going to install the software on the rover, as the wrapper to work
properly needs the cable connection with the camera. Therefore start with
getting onto the rover with `ssh`. If you don't know how to do it, please follow
this guide first:

<LinkButton docId="leo-rover/guides/ssh" />

Also for the installation you need to have local ROS workspace on the rover. If
you don't have one, follow the **Building additional ROS packages** part of
**ROS Development** tutorial:

<LinkButton docId="leo-rover/advanced-guides/ros-development" />

:::note

First you have to download it into `src` directory of your ROS workspace:

```bash
cd <path_to_your_ros_workspace>/src
git clone https://github.com/fictionlab/ros_monarch_pro.git
```

Having the source code, we need have installed all the required dependencies so
the package will be installed successfully. To install the dependencies type:
Having the source code, we need to install all of the required dependencies so
the package can be built successfully. To install the dependencies, type:

```bash
source devel/setup.bash
sudo apt update
rosdep update
rosdep install --from-paths src -iry
```

Expand Down Expand Up @@ -130,11 +148,11 @@ can change the provided camera parameters to your desired values (available
settings are `gain` and `exposure fps`). To load them into the program and your
camera, you need to restart the node.

If you have ROS installed on your computer, you can also change the camera image
with rqt plugin - dynamic reconfigure - which doesn't require node restart.
If you have ROS installed on your computer, you can also change the camera
wrapper parameters in runtime using the rqt dynamic reconfigure plugin.

Before starting any of the programs, make sure you completed the **Connecting
another computer to ROS network** of **ROS development** tutorial:
another computer to ROS network** of **ROS Development** tutorial:

<LinkButton docId="leo-rover/advanced-guides/ros-development" />

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