Factory Reset

If you are changing the SD card in your Jetson computer, or having issues with the operating system, you may need to reset the Limo computer to an initial state.

Reinsall the Operating System

You will need to reinstall the operating system from scratch. Follow the setup steps at the Jetson Developer Support Site

Install ROS

You will need to install ROS. Follow the setup steps at the ROS Wiki. Make sure to follow all of the steps so you are able to build packages and install dependencies using rosdep

Setup Orbbec Camera

sudo apt install libgflags-dev  ros-$ROS_DISTRO-image-geometry ros-$ROS_DISTRO-camera-info-manager\
ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-image-publisher libgoogle-glog-dev libusb-1.0-0-dev libeigen3-dev

git clone https://github.com/libuvc/libuvc.git
cd libuvc
mkdir build && cd build
cmake .. && make -j4
sudo make install
sudo ldconfig

Install Limo Software

Currently the Limo software is distributed from source and built locally. To create and build the workspace, follow the commands below

# make a workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
source /opt/ros/melodic/setup.bash
catkin_init_workspace

# download source code
git clone https://github.com/limo-agx/limo.git
git clone --recursive https://github.com/limo-agx/limo_robot.git
git clone https://github.com/limo-agx/limo_desktop.git
git clone https://github.com/orbbec/ros_astra_camera.git

# install dependencies
cd ~/catkin_ws/
rosdep install --from-paths src --ignore-src -y

# build everything
catkin_make

Sourcing Your Workspace

Once everything is setup and built, you will need to source you workspace. This makes the software available in the terminal.

source ~/catkin_ws/devel/setup.bash

The command needs to be typed in every terminal you start. If you want it to always be sourced, you can add the line to the bottom of your ~/.bashrc file