Monarch Pro software integration tutorial (#33)

* add unispectral monarch pro integration guide with software part

Signed-off-by: Aleksander Szymański <bitterisland6@gmail.com>

* remove mechanical and xml parts plus fix typos

Signed-off-by: Aleksander Szymański <bitterisland6@gmail.com>

* Spelling & formatting fixes

* add camera photo

Signed-off-by: Aleksander Szymański <bitterisland6@gmail.com>

* include photo in the tutorial

Signed-off-by: Aleksander Szymański <bitterisland6@gmail.com>

* code review guidelines and additional notes

Signed-off-by: Aleksander Szymański <bitterisland6@gmail.com>

* fix note tag

Signed-off-by: Aleksander Szymański <bitterisland6@gmail.com>

---------

Signed-off-by: Aleksander Szymański <bitterisland6@gmail.com>
Co-authored-by: Adrian Krzeminski <adrian@fictionlab.pl>

Author: Bitterisland6

cspell.json

@@ -50,6 +50,7 @@
         "hostapd",
         "hqdefault",
         "Husarion",
+        "hyperspectral",
         "igus",
         "imagezoom",
         "imbus",
@@ -89,6 +90,7 @@
         "Monopod",
         "Morenia",
         "moveit",
+        "multispectral",
         "mymap",
         "navsat",
         "Ninjemys",
@@ -160,6 +162,7 @@
         "UART",
         "ublox",
         "UEFI",
+        "unispectral",
         "URDF",
         "uros",
         "Velodyne",

docs/leo-rover/integrations/cameras/unispectral-monarch-pro.mdx

@@ -0,0 +1,167 @@
+---
+title: Unispectral Monarch Pro
+sidebar_label: Unispectral Monarch Pro
+keywords:
+  - unispectral
+  - monarch
+  - multispectral
+  - camera
+  - integration
+  - leo
+  - example
+description: >-
+  Learn how to connect a Monarch Pro multispectral camera to your Leo Rover for
+  multispectral imaging.
+
+image: /img/robots/leo/integrations/monarch-pro/monarch-pro.webp
+---
+
+This tutorial will guide you through the process of connecting a Monarch Pro
+camera to your Leo Rover.
+
+The [Monarch Pro](https://unispectral.com/monarch-pro/) is the ultimate camera
+for advanced imaging, offering detailed material analysis through hyperspectral
+imaging capabilities. It combines high-resolution spectral data capture with
+real-time processing to provide comprehensive insights beyond the visible
+spectrum. It can be used for material identification, crop health monitoring,
+and industrial inspection. With its ability to capture and analyze a wide range
+of wavelengths, the Monarch Pro enables precise analysis and decision-making
+across multiple industries.
+
+<ImageZoom
+  src="/img/robots/leo/integrations/monarch-pro/monarch-pro.webp"
+  width="1200"
+  height="668"
+  figStyle={{
+    width: 600,
+  }}
+/>
+
+## What to expect?
+
+After completing this tutorial, you will have successfully connected a Monarch
+Pro stereo camera to the Leo Rover in ROS, and you will possess basic knowledge
+about the use of the multispectral camera.
+
+## Prerequisites
+
+<LinkButton docId="leo-rover/guides/ssh" />
+<LinkButton docId="leo-rover/guides/connect-to-network" />
+<LinkButton docId="leo-rover/advanced-guides/install-ros-on-your-computer" />
+
+## List of components
+
+- Monarch Pro Multispectral Camera
+- Any mounting solution
+- USB-A to USB-C cable
+
+## Software integration
+
+We have prepared special ROS wrapper for the unispectral's Monarch Pro camera.
+
+### Installing the packages
+
+:::note
+
+We are going to install the software on the rover, as the wrapper to work
+properly needs the cable connection with the camera. Therefore start with
+getting onto the rover with `ssh`. If you don't know how to do it, please follow
+this guide first:
+
+<LinkButton docId="leo-rover/guides/ssh" />
+
+Also for the installation you need to have local ROS workspace on the rover. If
+you don't have one, follow the **Building additional ROS packages** part of
+**ROS Development** tutorial:
+
+<LinkButton docId="leo-rover/advanced-guides/ros-development" />
+
+:::
+
+First you have to download it into `src` directory of your ROS workspace:
+
+```bash
+cd <path_to_your_ros_workspace>/src
+git clone https://github.com/fictionlab/ros_monarch_pro.git
+```
+
+Having the source code, we need to install all of the required dependencies so
+the package can be built successfully. To install the dependencies, type:
+
+```bash
+sudo apt update
+rosdep update
+rosdep install --from-paths src -iry
+```
+
+:::note
+
+If this is your first package in the ROS workspace, or you haven't built it yet
+you need to source `/opt/ros/<your distro>/setup.bash`
+
+:::
+
+Now to install the package, you just have to type:
+
+```bash
+catkin build
+```
+
+If the building process was successful, you are ready to run the wrapper.
+
+## Examples
+
+### Running the node
+
+Running the installed software is really easy as we have prepared launch file
+for it. To run it, enter your ROS workspace and type:
+
+```bash
+source devel/setup.bash
+roslaunch monarch_ros wrapper.launch
+```
+
+The node provides a ROS service, which saves a spectral cube into images to
+specified directory. To trigger the image save you need to run in other terminal
+(with your ROS workspace sourced):
+
+```bash
+rosservice call /monarch_pro_wrapper/save_images
+```
+
+If the save was successful you will receive the path to parent directory, where
+the data is stored. Each call to the service results in creation of a separate
+directory named like `cube_<date>` inside the parent directory, which contains
+the saved files. By default the parent directory is set to your home directory.
+To change it you can either change the argument inside the `wrapper.launch`
+file, or you can set its value during launching the program - for example:
+
+```bash
+roslaunch monarch_ros wrapper.launch data_path:="/<your>/<desired>/<path>"
+```
+
+### Configuring the node
+
+In the downloaded repository, there is a config file with camera parameters. The
+parameters are loaded to the node automatically during the launch process. You
+can change the provided camera parameters to your desired values (available
+settings are `gain` and `exposure fps`). To load them into the program and your
+camera, you need to restart the node.
+
+If you have ROS installed on your computer, you can also change the camera
+wrapper parameters in runtime using the rqt dynamic reconfigure plugin.
+
+Before starting any of the programs, make sure you completed the **Connecting
+another computer to ROS network** of **ROS Development** tutorial:
+
+<LinkButton docId="leo-rover/advanced-guides/ros-development" />
+
+Now you can start `rqt`, and from `plugins` -> `configuration` choose
+`dynamic reconfigure` and then choose the `monarch_pro_wrapper` node. On the
+right side of the screen you will see the mentioned parameters - you can use the
+sliders and boxes next to them to change the values of the parameters.
+
+## What next?
+
+You can check our [Integrations page](/leo-rover/integrations) for more
+instructions.