Installation of the hardware drivers

In the following, the steps required to install the system-level drivers of the sensors are described.

This section is only for the SMB itself. It is not needed to install drivers and packages related to sensors into user’s pc.

The system-level software usually needs to be installed once and is already taken care of.

Hardware installation should be on top of the software installation.

​

Motor Controller

The USB rules for the motor controller driver should be copied to rules.d .

# Copy the USB rule
# Dont forget to change <>
sudo cp <catkin_ws_dir>/src/smb_common/smb_lowlevel_controller/smb_driver/udev/55-smb.rules /etc/udev/rules.d/

RealSense 

# Installing necessary libraries for RealSense.
sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main"

sudo apt update
sudo apt install librealsense2-dev librealsense2-dkms librealsense2-utils

sudo apt install ros-noetic-ddynamic-reconfigure

Robosense 

# Installing necessary libraries for RoboSense.
sudo apt-get install -y libyaml-cpp-dev libpcap-dev libprotobuf-dev protobuf-compiler git

Spinnaker Camera Driver

Download the spinnaker driver.

# Installing necessary libraries for camera driver.
sudo apt install ros-noetic-roslint

cd <Directory_to_download>/

tar -xvf spinnaker-2.4.0.143-Ubuntu20.04-amd64-pkg.tar.gz 
rm spinnaker-2.4.0.143-Ubuntu20.04-amd64-pkg.tar.gz 
cd spinnaker-2.4.0.143-amd64/
sudo dpkg -i libgentl_2.4.0.143_amd64.deb libspinnaker_2.4.0.143_amd64.deb libspinnaker-dev_2.4.0.143_amd64.deb libspinnaker-c_2.4.0.143_amd64.deb libspinnaker-c-dev_2.4.0.143_amd64.deb

# Setting up FLIR driver (libspinnaker). Enter username when asked!
sudo ./configure_gentl_paths.sh 64
sudo ./configure_usbfs.sh
sudo ./configure_spinnaker.sh
sudo ./configure_spinnaker_paths.sh

After the installation you can remove the tar.gz file and also the content of it.