Welcome to the third post on setting up a Jetson AGX Orin for robotics development! Today, we will focus on setting up a set of state-of-the-art methods for event-based localization. The structure of the post goes as follows:

• 1. ESVO-Extension
  • 1.1 Prerequisites
  • 1.2 Installation
• 2. EventEMin
  • 2.1 Dependencies
  • 2.2 Installation

Reminder: For this project I will be using the JETSON AGX ORIN DEVELOPER KIT. Some things to take into account about this board:

• It is an ARM64 architecture.
• It has Ubuntu 20.04 installed
• It comes with the Nvidia Jetpack 5.1.2
• It has ROS Noetic

1. ESVO-Extension

This installation has been successfully tested in Ubuntu 20.04 with ROS Noetic, OpenCV 4.5.4 and Eigen 3.4.

1.1 Prerequisites

sudo apt-get install libqhull-dev python3-pycryptodome
pip3 install python-gnupg

• FLANN library == 1.7.0. Clone and compile it in your favourite folder:

    git clone https://github.com/flann-lib/flann.git
    cd flann
    mkdir build && cd build
    cmake ..
    make -j$(nproc)
    sudo make install
  

• Bullet library . Clone and compile it in your favourite folder:

    git clone https://github.com/bulletphysics/bullet3.git
    cd bullet3
    mkdir build && cd build
    cmake ..
    make -j$(nproc)
    sudo make install
  

• PCL library v. 1.10. Follow the installation instructions here. When building, ensure that it is compiled with QHull as follows:

    cmake -DWITH_QHULL=TRUE ..
  

• ROS Noetic dependencies. I will install this in my ros_noetic_ws, therefore, all the comands for each package below are preceded by a cd ros_noetic_ws/src.
  • vision_opencv

      git clone https://github.com/ros-perception/vision_opencv.git
      cd vision_opencv && git checkout noetic
      cd ../..
    

  • pcl_msgs

      git clone https://github.com/ros-perception/pcl_msgs.git
      cd pcl_msgs && git checkout noetic-devel
    

  • geometry2

      git clone https://github.com/ros/geometry2.git
      cd geometry2 && git checkout noetic-devel
    

  • perception_pcl

      git clone https://github.com/ros-perception/perception_pcl.git 
      cd perception_pcl && git checkout melodic-devel
    

• Other ROS dependencies. These are the dependencies that I will install in my catkin_ws. Similarly, all the comands for each package below are preceded by a cd catkin_ws/src.
  • cnpy_catkin

      git clone https://github.com/uzh-rpg/cnpy_catkin.git
    

1.2 Installation

ESVO_extension is a ROS package that I will intall in my catkin_ws workspace.

cd catkin_ws/src
git clone https://github.com/olayasturias/ESVO_extension.git
cd ..
catkin build esvo_time_surface esvo_core

For installing it and other dependencies, follow the installation instructions in the repo.

2. EventEMin

2.1 Dependencies

sudo apt install libomp-dev
sudo apt-get install libgsl-dev

2.2 Installation

This worked straight away. The repo claims that it needs an Eigen3 version lower (but not including) 3.4. However, I haven’t had any trouble with Eigen 3.4 so far!

cd ~/catkin_ws/src
git clone --recurse-submodules https://github.com/ImperialCollegeLondon/event_emin_ros.git
cd ..
catkin build event_emin_ros

3. EVO

3.1 Dependencies

The command ./rpg_dvs_evo_open/install.sh install the dependencies. However, some need to be installed manually (only applicable for ARM architectures though):

sudo apt-get install libfftw3-dev

cd ~/catkin_ws/src
git clone https://github.com/uzh-rpg/fast_neon.git
git checkout test/aarch64-compilation 
cd ../..
catkin build fast

3.2 Installation

cd src/ && https://github.com/uzh-rpg/rpg_dvs_evo_open.git