[PointOneNav Integration] fusion-engine-driver available as a package

.docker_utils/Dockerfile.f1tenth_arm

@@ -424,6 +424,10 @@ RUN source source_ros2.sh && \
 RUN source source_ros2.sh && \ 
     make livox-driver
 
+########## Build fusion-engine-driver, ntrip_client, and p1_tools for PointOneNav GPS #########
+RUN source source_ros2.sh && \
+    make pointonenav	
+
 ########### ADD CUSTOM FUNCTIONS ###########
 WORKDIR /home/scripts/
 COPY scripts/bashrc.sh ./bashrc.sh
@@ -432,4 +436,4 @@ RUN ["/bin/bash", "-c", "echo '. /home/scripts/bashrc.sh' >> /root/.bashrc"]
 WORKDIR $WORKSPACE
 RUN echo export WORKSPACE=$WORKSPACE >> /root/.bashrc
 # RUN echo 'export LD_PRELOAD=/usr/local/lib/python3.8/dist-packages/sklearn/__check_build/../../scikit_learn.libs/libgomp-d22c30c5.so.1.0.0' >> ~/.bashrc
-ENTRYPOINT ["/bin/bash"]
+ENTRYPOINT ["/bin/bash"]

.docker_utils/README.md

@@ -0,0 +1,4 @@
+I added at the very bottom right after the LIVOX scripts, the scripts necessary for PointOneNav
+
+On one terminal, ros2 launch ntrip_client ntrip_client_launch.py host:=polaris.pointonenav.com port:=2101 mountpoint:=POLARIS ntrip_version:=v2 authenticate:=true username:=gbUv1nO2 password:=zZLxzLpJ 
+On another terminal, ros2 run fusion-engine-driver fusion_engine_ros_driver --ros-args -p connection_type:=tty -p tty_port:=/dev/ttyUSB1

Makefile

@@ -1,7 +1,6 @@
 .ONESHELL:
 SHELL := /bin/bash
 .DEFAULT_GOAL := build
-
 .PHONY: build
 build:
 	colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
@@ -37,6 +36,11 @@ livox-driver:
 	vcs import < repos/livox.repos
 	./scripts/livox_driver.sh
 
+.PHONY: pointonenav
+pointonenav:
+	vcs import < repos/pon.repos
+	./scripts/pon.sh
+
 .PHONY: racer
 racer:
 	vcs import < repos/common.repos

repos/common.repos

@@ -17,3 +17,8 @@ repositories:
         type: git
         url: https://github.com/Triton-AI/multi_cam_oak_lite.git 
         version: master
+    #GPS
+    src/external/sensors/gps:
+	type: git
+	url:
+	version: master

repos/pon.repos

@@ -0,0 +1,14 @@
+repositories:
+    src/external/sensors/gps/pointonenav:
+        type: git
+        url: https://github.com/Triton-AI/ros2-fusion-engine-driver.git
+        version: main
+    src/external/sensors/gps/pointonenav/ntrip_client:
+        type: git
+        url: https://github.com/LORD-MicroStrain/ntrip_client
+        version: ros2
+    src/external/sensors/gps/pointonenav/quectel:
+        type: git
+        url: https://github.com/UCSD-ECEMAE-148/quectel.git
+        version: main
+

repos/sim.repos

@@ -6,4 +6,4 @@ repositories:
     src/external/f1tenth_sim/f1tenth_gym_ros:
         type: git
         url: https://github.com/Triton-AI/f1tenth_gym_ros.git
-        version: main
+        version: main

scripts/pon.sh

@@ -0,0 +1,100 @@
+#!/bin/bash
+
+# All documentations related are as follows
+# https://github.com/PointOneNav/p1-host-tools
+# https://github.com/PointOneNav/ros2-fusion-engine-driver/tree/main?tab=readme-ov-file#requirements
+# Property of Triton AI @ UCSD, Kevin Shin
+
+# Check for C++11 or later
+if g++ -std=c++11 -E -x c++ - </dev/null &> /dev/null; then
+	echo "C++11 or later: Installed"
+else
+	echo "C++11 or later: Not installed"
+fi
+
+# Check for CMake 3.x
+if command -v cmake >/dev/null 2>&1; then
+	cmake_version=$(cmake --version | head -n1 | awk '{print $3}')
+	if [[ $cmake_version == 3.* ]]; then
+		echo "CMake 3.x: Installed (version $cmake_version)"
+       	else
+	       	echo "CMake 3.x: Not installed (found version $cmake_version)"
+	fi
+else
+	echo "CMake 3.x: Not installed"
+fi
+
+# Check for GCC or Clang
+if command -v gcc >/dev/null 2>&1; then
+	echo "GCC: Installed ($(gcc --version | head -n1))"
+elif command -v clang >/dev/null 2>&1; then
+	echo "Clang: Installed ($(clang --version | head -n1))"
+else
+	echo "Neither GCC nor Clang is installed"
+fi
+
+# Check for ROS 2 Foxy
+if [ -f /opt/ros/foxy/setup.bash ]; then
+	echo "ROS 2 Foxy: Installed"
+else
+	echo "ROS 2 Foxy: Not installed"
+fi
+
+
+# Install missing packages
+install_package() {
+       	echo "Installing $1..."
+	sudo apt-get update
+	sudo apt-get install -y $1
+}
+
+check_package() {
+	if dpkg -s $1 >/dev/null 2>&1; then
+		return 0
+	else
+		return 1
+	fi
+}
+
+packages=("ros-foxy-gps-msgs" "ros-foxy-nmea-msgs" "ros-foxy-mavros-msgs" "ros-foxy-rtcm-msgs")
+all_installed=true
+
+for package in "${packages[@]}"; do
+	if ! dpkg -s $package >/dev/null 2>&1; then
+		install_package $package
+       	else
+		echo "$package is already installed."
+	fi
+
+	if ! check_package $package; then
+		all_installed=false
+	fi
+done
+
+POINTONENAV=/home/jetson/projects/robocar/src/external/sensors/gps/pointonenav
+# Configurations
+if $all_installed; then
+	echo "All required ROS2 Foxy packages are installed. Proceeding with FusionEngine and NTRIPClient installation."
+	cd $POINTONENAV/p1-host-tools/
+	python3 -m venv p1_tools_venv
+	source p1_tools_venv/bin/activate
+	pip3 install -r requirements.txt	
+	bin/config_tool.py apply uart2_message_rate fe ROSPoseMessage 100ms
+	bin/config_tool.py apply uart2_message_rate fe ROSGPSFixMessage 100ms
+	bin/config_tool.py apply uart2_message_rate fe ROSIMUMessage 100ms
+	bin/config_tool.py save
+	deactivate
+
+	cd $POINTONENAV/fusion-engine-driver/
+	rosdep install -i --from-path ./ --rosdistro foxy -y
+	colcon build --packages-select fusion-engine-driver
+	source install/local_setup.bash
+
+	cd $POINTONENAV/ntrip_client/	
+	colcon build --packages-select ntrip_client
+	source install/local_setup.bash
+
+	echo "FusionEngine and NTRIPClient configured and available as ROS2 packages."
+else
+	echo "Some required ROS2 Foxy packages are missing. Please install them before proceeding"
+fi