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

View Service logs

To monitor the service logs, run:

journalctl -u docker-container.service -f