Launch

Run this once

colcon build

Run this in every terminal

source install/setup.bash

Terminal 1 - Core NavAid logic

ros2 launch navaid_handler navaid_stage1.launch.py

Terminal 2 - IMU calibration node CTRL + C to recalibrate
CTRL + Z to terminate program

ros2 run imu_driver imu_converter

Terminal 3 OR separate computer - 2D LIDAR + IMU visualization

colcon build --packages-up-to navaid_handler
source install/setup.bash
ros2 launch navaid_handler navaid_stage1_viewer.launch.py

OR

rviz2
# then open navaid_view.rviz config

Terminal 4 OR separate computer - 3D IMU visualization
imu_node and imu_converter should be running already

ros2 run imu_driver imu_subscriber

Terminal 5 OR separate computer - Camera

ros2 launch csi_camera_cpp csi_camera_ipc.launch.py detection_frame_skip:=4 publish_annotated_image:=false

Misc

RTPS Error Debug

sudo rm -f /dev/shm/fastrtps*

cap.read() error

sudo systemctl <status|restart> nvargus-daemon

gst-launch-1.0 nvarguscamerasrc ! fakesink