Purpose

​ This repo is a special additional software for ‘’ROKIT‘’ product. You can click here to know more about "ROKIT". If you have some QR codes(DM code is also fine) deployed in your site, and your mobile robot happens to have a camera or code reader that can read the QR code. These information can be combined to improve the mapping accuracy and localization accuracy in some scenarios.

​ One sentence summary : Collect the position and posture of the QR code, and Assist SLAM in Mapping and Localization.

Installation

• Just clone this repo

  git clone xxxx

• Install "rapidjson"

  This is a very lightweight C++ library, which is very easy to install and use. Click here to jump to its github page.

  I believe you can easily install it in two minutes.

• Install "sqlite3"

  https://www.sqlite.org/download.html Find "source code" in this link. There are two packages under this title. Select the one with the 'configuration' script(The larger one).

tar -xzvf sqlite-autoconf-3410000.tar.gz
cd sqlite-autoconf-3410000
sudo ./configure
sudo make
sudo make install  

• Install "curl"

  sudo apt install curl

• Install "spdlog"

  git clone https://github.com/gabime/spdlog.git
  cd spdlog && mkdir build && cd build
  cmake .. && make -j
  sudo make install

  By the way, install a tool for database visualization.

  sudo apt install sqlitebrowser

• Now you can install add_on project. Enter the folder you cloned first.

  mkdir build && cd build
  cmake ..
  make

  By default, the program will be built in the way of "RelWithDebInfo" . If you want to debug this program, Replace the second cmake instruction with cmake -DCMAKE_BUILD_TYPE=Debug ..

USAGE

• If you come to this step, I believe you are already using "ROKIT" and the device has connected the code reader and radar.

• We receive the QR code ID and relative position (from the lens center to the QR code center) sent from the code reader through port 9080.

  In addition, you need to send the position and posture of the lens in the QR code coordinate system.

  struct CustomerPackage {
    uint32_t dmId;
    double deviationX = 0;
    double deviationY = 0;
    double deviationA = 0;
  };

• We send some diagnostic messages through port 9081 (binary interface, currently under improvement).

• We wrote a sample code about client based on our hardware. If necessary, contact us to obtain. Contact us for instruction manual for more details.

• The use of the program itself is very simple. It only needs to run the executable file generated before. After that, no matter what happens, you don't need to pay attention to this program (no need to restart, no need to care about the startup sequence of ROKIT, etc.).

• The transformation between the device coordinate system and the code reader coordinate system can be simply configured directly in the config.yaml

tips: All the above connections are based on TCP protocol.

About

Copyright (c) 2022 Shanghai Bosch Rexroth Hydraulics & Automation Ltd.

Please note that any trademarks, logos and pictures contained or linked to in this Software are owned by or copyright © Bosch Rexroth AG or Shanghai Bosch Rexroth Hydraulics & Automation Ltd. and not licensed under the Software's license terms.

https://www.boschrexroth.com

Shanghai Bosch Rexroth Hydraulics & Automation Ltd.

333 Fuquan North Road, Changning District, Shanghai, CHINA.

Licenses

MIT License

Copyright (c) 2022 Shanghai Bosch Rexroth Hydraulics & Automation Ltd.

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.