PLC Dev notes Ubuntu 20.04 x86 amd64 Sudo apt-get update sudo apt-get upgrade // INstall terminal multi windopw sudo apt-get install terminator set as default terminal emulator upon install // install build essentials - Make etc sudo apt-get install build-essential // Install ROS matching 20.04 - Noetic http://wiki.ros.org/noetic/Installation/Ubuntu Follow through the tut , no complications rqt may not work immediately out of the box, remove some of the PyQt5 package to get running pip uninstall PyQt5 pip uninstall PyQt5-sip pip uninstall PyQtWebEngine //Install Aria Link in the paper is not exact, the below has all the source code excluded ArNetworking from the build as throwing exceptions Aria is no longer maintained, but there is AriaCoda which is currently maintained by reedhedges install git and make a Depot sandbox dir git clone https://github.com/reedhedges/AriaCoda.git Extract form the readme file: To install AriaCoda from source code, use `sudo make install`. This installs the `libAria.so` shared library (also with versioned files) into `/usr/local/lib` and, the header files in `/usr/local/include/Aria`. Robot parameter files are installed into `/usr/local/share/Aria/params`. Use `make install-doc` to install API reference documentation into `/usr/local/share/doc/Aria/doc`, `make install-utils` to install `demo` (as `ariaDemo`), `mtxPower`, and `seekurPower` into `/usr/local/bin`, `make install-python` to install the Python wrapper files, and `make install-java` to install the Java wrapper. Run `make install-examples` to install the example program source code into `/usr/local/share/doc/Aria/examples`. once cloned, make , sudo make install , made the examples make -o ./teleopActionsExample.cpp At this point the examples are compiled and available at ~/Depot/AriaCoda/examples and working. sudo ./teleopActionsExample -rp /dev/ttyS1 sudo ./gpsExample -gpsPort /dev/ttyACM0 -rp /dev/ttys1 It will be easier at some stage to add the use netipc to the dialout group etc to avoid using sudo all the time. sudo chmod a+rw /dev/ttyS1 sudo chmod a+rw /dev/ttyACM0 //GPS driver Could have used the gpsd daemon, but decided to go with nmea_navsat_driver sudo apt-get install ros-noetic-nmea-navsat-driver rosrun nmea_navsat_driver nmea_serial_driver _port:=/dev/ttyACM0 _baud:=9600 check with rqt, the topic is published, easy ... \m/ //Install DepthAi examples and ROS nodes for OAK-D camera Follow tutorial https://github.com/luxonis/depthai Proof of concept and examples available in: ~/Depot/depthai //ROSAria Objective is to test the teleop mode through ROS / ROS Aria Follow tutorial here: http://wiki.ros.org/ROSARIA/Tutorials/How%20to%20use%20ROSARIA Created instructor workspace, To discuss with the students so they make their own workspace, and way of locking them out. Downloaded Rosaria as per instructions catkin_make Compile without issue - providing you have the Aria lib preinstalled, ignore deb package DL , as deprecated. Launch Terminator Create 4 terminals Launch roscore Launch rosaria rosrun rosaria RosAria _port:=/dev/ttyS1 Launch teleop rosrun rosaria_client interface Potentially have to reconfigure the direction, somehow lost the reverse direction playing around with parameters of the interface... // ROS and depthai revert to depth ai, but now integrating with ROS , follow tutorial there: https://github.com/luxonis/depthai-ros Follow through, but had to rein in the catkin_make to -j2 to avoid depleting RAM and swap.... export ROS_PARALLEL_JOBS=-j2 Run the example with RViz roslaunch depthai_examples stereo_node.launch