installing opencv and ROS on raspberry jessie--debian 8.0 system

安装opencv

opencv-3.00----http://www.pyimagesearch.com/2015/10/26/how-to-install-opencv-3-on-raspbian-jessie/
opencv-3.10----http://www.pyimagesearch.com/2016/04/18/install-guide-raspberry-pi-3-raspbian-jessie-opencv-3/

安装ROS 的indigo版本

http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Indigo%20on%20Raspberry%20Pi

 若在安装依赖项出现问题时，参考如下：

http://blog.csdn.net/super_miao0/article/details/53571753

安装"liburdfdom-headers-dev"后我们还要下载添加一个文件(utils.h)到/usr/local/include/urdf_model目录下,否则编译会报错

创建工作空间

http://wiki.ros.org/catkin/Tutorials/create_a_workspace

ROS使用自带和usb摄像头获取图像

http://www.cnblogs.com/CZM-/p/6024600.html

标定摄像头

http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration，http://blog.csdn.net/heyijia0327/article/details/43538695

最后一步改成

rosrun camera_calibration cameracalibrator.py --size 11x9 --square 0.02 image:=/usb_cam/image_raw camera:=/usb_cam

安装apriltags-tags

You need to specify tag ids and size in the launch file you create. You cannot rosrun this node and get tag ids.
These are the pre-requisites for using this package.

   1.usb_cam package and apriltag_ros package should be installed
   2.Create a launch file similar to example.launch in apriltag_ros package (you will find that in the apriltag_ros/launch folder. In the launch file mention the tag ids you want to detect and their size in meter.
   3.Calibrate your camera and import the yaml file. Copy that yaml file with appropriate camera name in the home/user/.ros/camera_info folder.
   4.roslaunch apriltag_ros [launchfilename].launch

查看当前节点消息

rostopic list
rostopic echo /tf

apriltags-ros的移植

http://people.csail.mit.edu/kaess/apriltags/

使用串口输出

http://www.briandorey.com/post/Raspberry-Pi-3-UART-Boot-Overlay-Part-Two