This is the repository for all my work regarding the software side of the polarisation experiment. This was made using ROS2 with a complicated setup of an RPi and RoboStack.

1. Install the ArenaSDK
2. Clone this repository onto the Raspberry Pi into a ROS2 Workspace
3. Clone ds4_driver, lucid_vision_driver and vrpn_mocap into the src directory of this repository
4. Run sudo apt update && rosdep update
5. Run rosdep install --from-paths src -y --ignore-src
6. Run colcon build and hope it all builds
7. Use bluetoothctl to connect to a PS4 controller
8. Run ros2 launch calibrate_process launch_project.py

1. Clone this repository into a ROS2 Workspace
2. Run rosdep update
3. Run rosdep install --from-paths src -y --ignore-src
4. Change parent_path in calibrate_process.py 5Run ros2 launch calibrate_process calibrate_process

ROS2 tries to transmit over what ever interface it wants and when the polarisation camera is attached, it will try and transmit it over the polarisation camera... This is obviously incorrect.

Steps to fix (run on RPi)

1. Run export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
2. Run export interface=$(for dev in /sys/class/net/*; do [ -e "$dev"/wireless ] && echo ${dev##*/}; done)
3. Run

   echo "<?xml version=\"1.0\" encoding=\"UTF-8\" ?>
    <CycloneDDS xmlns=\"https://cdds.io/config\" xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\" xsi:schemaLocation=\"https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd\">
        <Domain id=\"any\">
            <General>
                <NetworkInterfaceAddress>$interface</NetworkInterfaceAddress>
            </General>
        </Domain>
    </CycloneDDS>" > /tmp/cyclonedds_interface.xml
   

4. Run export CYCLONEDDS_URI="file:///tmp/cyclonedds_interface.xml"

More information can be found on: https://dds-demonstrators.readthedocs.io/en/latest/Teams/1.Hurricane/setupCycloneDDS.html