wisevision.proj

Repository containing sub-repos for setting up the whole project

Place where ROS2 meets LoRaWAN

• WiseVision is about connecting the ROS2 ecosystem with other technologies, currently focusing on LoRaWAN. From 8000+ LoRaWAN devices all can be integrated into the ROS2 ecosystem with the WiseVision.
• Use for free and contribute to the project to make it better.
• Enjoy the power of ROS 2 and LoRaWAN together.

Table of Contents

• wisevision.proj
  • Place where ROS2 meets LoRaWAN
  • Table of Contents
  • Download
    • VCSTool
    • Get the project
    • Install dependencies
      • ROS2
      • MQTT C++ Client Library
      • gRPC
  • Build
  • Docker Run
    • Setup
    • Run with docker-compose
  • FAQ
    • Permission denied for docker hub
  • Run workflow with act

For more details, visit:

• Setup Local
• Setup with Docker Compose
• Setup with Docker

Download

VCSTool

The project uses the vcs tool to configure the dependent repositories.

Install the vcstool:

pip3 install vcstool

Get the project

git clone [email protected]:wise-vision/wisevision.proj.git && cd wisevision.proj # git checkout 2411 # (or any other branch/tag) 
vcs import --recursive < project.repos

Install dependencies

In case you have done the installation of the dependencies before, you can skip this step to Run without docker

ROS2

So far the ROS 2 Humble and Jazzy distributions are supported. The original instruction can be found here: Humble or Jazzy below instruction is for Humble distribution.

sudo apt install -y software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update && sudo apt upgrade -y
sudo apt install -y ros-humble-desktop ros-dev-tools python3-rosdep
sudo rosdep init
rosdep update

source /opt/ros/humble/setup.bash # for convenience echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

MQTT C++ Client Library

MQTT client library is used to connect with Chirpstack API in LoRaWAN bridge.

sudo apt install libpaho-mqtt-dev libpaho-mqttpp-dev

gRPC

gRPC has to be built from source to use C++ plugin which generates C++ source files from .proto.

1. Define gRPC installation directory and export variable.

export GRPC_INSTALL_DIR=$HOME/grpc_install_dir
mkdir $GRPC_INSTALL_DIR

2. Make sure that there is CMake version 3.13 or later. Try installing from package.

sudo apt install -y cmake

Check CMake version and if it is too low, install if from source.

cmake --version

3. Install other required packages.

sudo apt install -y build-essential autoconf libtool pkg-config

4. Clone gRPC repository.

git clone --recurse-submodules -b v1.64.0 --depth 1 --shallow-submodules https://github.com/grpc/grpc

5. Build and install gRPC and Protocol Buffers.

cd grpc
mkdir -p cmake/build
pushd cmake/build
cmake -DBUILD_SHARED_LIBS=ON \
    -DCMAKE_INSTALL_PREFIX=$GRPC_INSTALL_DIR \
    -DgRPC_BUILD_GRPC_CPP_PLUGIN=ON \
    -DgRPC_BUILD_GRPC_CSHARP_PLUGIN=OFF \
    -DgRPC_BUILD_GRPC_NODE_PLUGIN=OFF \
    -DgRPC_BUILD_GRPC_OBJECTIVE_C_PLUGIN=OFF \
    -DgRPC_BUILD_GRPC_PHP_PLUGIN=OFF \
    -DgRPC_BUILD_GRPC_PYTHON_PLUGIN=OFF \
    -DgRPC_BUILD_GRPC_RUBY_PLUGIN=OFF \
    ../..
make -j$(nproc --ignore=2) # if your machine is stronger, consider increasing number of jobs or skip it altogether to run without constraints
make install
popd

6. Export variables to be able to load built shared libraries and include headers. It is recommended to put those variables inside .bashrc file.

export GRPC_INSTALL_DIR=${HOME}/grpc_install_dir
export PATH=$PATH:${GRPC_INSTALL_DIR}/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${GRPC_INSTALL_DIR}/lib

Build

cd wisevision.proj # or the directory where the project.repos file is located
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

To run WiseVision locally, follow steps: Setup Local

Docker Run

Other way to run the project is to use docker-compose. This step requires docker, docker-compose installed and also the GitHub token to be set in the environment.

Setup

It is required to set up.

vcs import --recursive < project.repos
cp src/wisevision_lorawan_bridge/.env_example src/wisevision_lorawan_bridge/.env  

To run WiseVision docker, follow steps: Setup with Docker

Run with docker-compose

Will be removed in the future but for now, it is required to build the image locally to get the GitHub token.

$ GITHUB_TOKEN=<YOUR-GH-TOKEN> docker-compose up --build  

To run WiseVision docker, follow steps: Setup with Docker Compose

FAQ

Permission denied for docker hub

In case of permission denied for docker hub -> create the required image locally:

cd src/wisevision_msgs
docker build -t wisevision/ros_with_wisevision_msgs:humble -f Dockerfile .
cd ../..
docker-compose up --build

Run workflow with act

Install act tool link.

Run:

act pull_request -W .github/workflows/ros2_ci.yml -j build -P ubuntu-22.04=catthehacker/ubuntu:act-22.04 --secret SSH_KEY="$(cat path/to/your/private_key)"