Added reComputer installation ROS1, RoboSense Lidar, Aloam algorithm …

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diff --git a/docs/Edge/NVIDIA_Jetson/Application/Robotics/Hardware/Robosense_Lidar.md b/docs/Edge/NVIDIA_Jetson/Application/Robotics/Hardware/Robosense_Lidar.md
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+---
+description: How to use RoboSense LiDAR on reComputer
+title: Use RoboSense Lidar
+keywords:
+- Jetson Nano
+- reComputer
+- Robosense
+- Lidar
+- ROS
+image: https://files.seeedstudio.com/wiki/wiki-platform/S-tempor.png
+slug: /Robosense_Lidar
+last_update:
+  date: 05/7/2024
+  author: ZhuYaoHui
+---
+# How to use RoboSense LiDAR on reComputer
+
+## Introduction
+RoboSense LiDAR sensors provide high-precision 3D point cloud data for various applications. This guide focuses on setting up the RS32 model on a [reComputer J30/40](https://www.seeedstudio.com/reComputer-J4012-p-5586.html) device running ROS Noetic.
+
+This wiki provides a step-by-step guide to install and set up RoboSense LiDAR on [reComputer J30/40](https://www.seeedstudio.com/reComputer-J4012-p-5586.html) Jetson using ROS, and visualize point cloud data.
+<div align="center">
+    <img width={700} 
+     src="https://files.seeedstudio.com/wiki/robotics/hardware/robosense/fig1.gif" />
+</div>
+
+
+## Prerequisites
+- __[reComputer J30/40 series](https://www.seeedstudio.com/reComputer-J4012-p-5586.html)__: Already completed the [installation of the JetPack 5.x](/reComputer_J4012_Flash_Jetpack) system and the [ROS Noetic environment](/Installing_ROS1) according to the tutorial. 
+
+- __RoboSense all series lidar__
+
+<div align="center">
+    <img width={700} 
+     src="https://files.seeedstudio.com/wiki/reComputer-Jetson/A608/recomputerj4012.jpg" />
+</div>
+
+## Getting Started
+
+### Install Robosense SDK
+- **Step 1:** Install Basic Dependencies
+  ```bash
+  sudo apt-get update &&
+  sudo apt-get install -y libyaml-cpp-dev libpcap-dev
+  ```
+- **Step 2:** Create Workspace
+  ```bash
+  mkdir -p catkin_ws/src
+  cd catkin_ws/src
+  ```
+- **Step 3:** Clone the rslidar_sdk
+  ```bash
+  git clone https://github.com/RoboSense-LiDAR/rslidar_sdk.git
+  cd rslidar_sdk
+  git submodule init
+  git submodule update
+  ```
+- **Step 4:** Open the **CMakeLists.txt** file located at **_catkin_ws/src/rslidar_sdk/CMakeLists.txt_** and change the variable **_COMPILE_METHOD_** at the top of the file to **_CATKIN_**.
+
+  <div align="center">
+      <img width={500} 
+      src="https://files.seeedstudio.com/wiki/robotics/hardware/robosense/fig3.png" />
+  </div>
+
+- **Step 4:** Delete the existing **package.xml** file located in the **_catkin_ws/src/rslidar_sdk/ directory_**，Rename the **package_ros1.xml** file to **package.xml**.
+  <div align="center">
+      <img width={500} 
+      src="https://files.seeedstudio.com/wiki/robotics/hardware/robosense/fig4.png" />
+  </div>
+
+- **Step 5:** Enter the Following Commands in the Terminal
+  ```bash
+  cd ~/catkin_ws/src/rslidar_sdk/
+  mkdir build && cd build
+  cmake .. && make -j4
+  cd ~/catkin_ws/
+  catkin_make
+  ```
+### Connect Hardware
+- **Step 1:** Connect the power supply, Robosense RS32 LiDAR, interface box, and Ethernet cable to the reComputer J4012 as described below:
+<div align="center">
+    <img width={500} 
+    src="https://files.seeedstudio.com/wiki/robotics/hardware/robosense/fig5.gif" />
+</div>
+
+- **Step 2:** Open the config.yaml file located at **_/catkin_ws/src/rslidar_sdk/config/config.yaml_** and change the **lidar_type** on line **10** to **RS32**. Save the file and close it. Ensure you fill in the correct LiDAR model according to your device.
+<div align="center">
+    <img width={400} 
+    src="https://files.seeedstudio.com/wiki/robotics/hardware/robosense/fig6.png" />
+</div>
+
+### Configure reComputer IP Address
+The default IP address for the Robosense RS32 LiDAR is **_192.168.1.200_**, the target host machine IP address is **_192.168.1.102_**, the MSOP packet port number is 6699, and the DIFOP packet port number is 7788. After connecting the hardware, you need to manually configure the IP address of the reComputer.
+
+- **Step 1:** Open Ethernet Settings.
+  <div align="center">
+      <img width={500} 
+      src="https://files.seeedstudio.com/wiki/robotics/hardware/robosense/fig7.png" />
+  </div>
+- **Step 2:** Select Manual Settings in the IPv4 field and enter the IP address **192.168.1.102** and mask **255.255.255.0**. 
+  <div align="center">
+      <img width={500} 
+      src="https://files.seeedstudio.com/wiki/robotics/hardware/robosense/fig8.png" />
+  </div>
+
+  ```bash
+  ping 192.168.1.200
+  ```
+  <div align="center">
+      <img width={500} 
+      src="https://files.seeedstudio.com/wiki/robotics/hardware/robosense/fig9.png" />
+  </div>
+  If you receive data from the LiDAR, it indicates a successful connection.
+
+### Running Lidar Code
+  ```bash
+  cd ~/catkin_ws/
+  source devel/setup.bash
+  roslaunch rslidar_sdk start.launch
+  ```
+  <div align="center">
+      <img width={800} 
+      src="https://files.seeedstudio.com/wiki/robotics/hardware/robosense/fig10.png" />
+  </div>
+
+
+## Tech Support & Product Discussion
+
+Thank you for choosing our products! We are here to provide you with different support to ensure that your experience with our products is as smooth as possible. We offer several communication channels to cater to different preferences and needs.
+
+<div class="button_tech_support_container">
+<a href="https://forum.seeedstudio.com/" class="button_forum"></a> 
+<a href="https://www.seeedstudio.com/contacts" class="button_email"></a>
+</div>
+
+<div class="button_tech_support_container">
+<a href="https://discord.gg/eWkprNDMU7" class="button_discord"></a> 
+<a href="https://github.com/Seeed-Studio/wiki-documents/discussions/69" class="button_discussion"></a>
+</div>
diff --git a/docs/Edge/NVIDIA_Jetson/Application/Robotics/Software/A_Loam.md b/docs/Edge/NVIDIA_Jetson/Application/Robotics/Software/A_Loam.md
@@ -0,0 +1,161 @@
+---
+description: A-LOAM 3D SLAM
+title: Run A-LOAM 3D SLAM
+keywords:
+- A-LOAM
+- SLAM
+- reComputer
+- Jetson nano
+- ROS
+image: https://files.seeedstudio.com/wiki/wiki-platform/S-tempor.png
+slug: /A_Loam
+last_update:
+  date: 05/7/2024
+  author: ZhuYaoHui
+---
+# How to run A-LOAM 3D SLAM on reComputer
+
+## Introduction to A-LOAM
+
+[A-LOAM](https://github.com/HKUST-Aerial-Robotics/A-LOAM/tree/devel) is an advanced implementation of the original LOAM (Lidar Odometry and Mapping) algorithm by J. Zhang and S. Singh. The key features of A-LOAM include:
+- Real-time LiDAR odometry and mapping.
+- Simplified code structure using Eigen and Ceres Solver.
+- High performance and robustness in diverse environments.
+
+A-LOAM can be used for various applications including autonomous driving, robotics, and 3D mapping.
+
+This wiki provides detailed steps to set up and run the A-LOAM (Advanced LOAM) algorithm on reComputer Jetson Series using a RoboSense RS32 LiDAR sensor. A-LOAM is an advanced implementation of LOAM (Lidar Odometry and Mapping in Real-time) that utilizes Eigen and Ceres Solver for efficient and real-time mapping and localization.
+  <div align="center">
+      <img width={800} 
+      src="https://files.seeedstudio.com/wiki/robotics/software/aloam/fig0.gif" />
+  </div>
+
+## Prerequisites
+- __[reComputer J30/40](https://www.seeedstudio.com/reComputer-J4012-p-5586.html)__.
+
+- __RoboSense RS32 Lidar__.
+
+  :::note
+    - Ensure your reComputer is running Jetpack 5.x. We have only tested on Ubuntu 20.04 and ROS Noetic. Follow the [ROS1 installation for reComputer](/reComputer_J4012_Flash_Jetpack) as outlined in this guide to complete the ROS environment setup.
+    - Ensure you follow the tutorial to [launch the RoboSense RS32 LiDAR on reComputer in ROS](/Robosense_Lidar), and successfully visualize the point cloud data.
+  :::
+
+<div align="center">
+    <img width={700} 
+     src="https://files.seeedstudio.com/wiki/reComputer-Jetson/A608/recomputerj4012.jpg" />
+</div>
+
+## Getting Started
+
+### Environment Setup
+ - **Step 1:** Install gflags, google-glog, suitesparse, cxsparse3, cxsparse.
+    ```bash
+    sudo apt-get install libgflags-dev libgoogle-glog-dev
+    sudo apt-get install libsuitesparse-dev libcxsparse3 libcxsparse-dev
+    ```
+- **Step 2:** Install PCL (Point Cloud Library).
+  ```bash
+  sudo apt install libpcl-dev
+  ```
+- **Step 3:** Install Ceres.
+  ```bash
+  wget ceres-solver.org/ceres-solver-1.14.0.tar.gz
+  tar xvf ceres-solver-1.14.0.tar.gz
+  cd ceres-solver-1.14.0
+  mkdir build
+  cd build
+  cmake ..
+  make -j4 
+  sudo make install
+  ```
+- **Step 4:** Clone the A-LOAM code into the src directory of your workspace (~/catkin_ws/src).
+  ```bash
+  cd ~/catkin_ws/src
+  git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git
+  ```
+### Modify Configuration Files and Source Code
+
+- **Step 1:** Since the A-LOAM algorithm requires the point cloud type to be **XYZIRT**, and the RS32 LiDAR default output is **XYZI**, you need to modify the **CMakeLists.txt** file at line **8** in the **_~/catkin_ws/src/rslidar_sdk/_** directory, changing **XYZI** to **XYZIRT**.
+  <div align="center">
+      <img width={400} 
+      src="https://files.seeedstudio.com/wiki/robotics/software/aloam/fig1.png" />
+  </div>
+
+- **Step 2:** The default point cloud topic that A-LOAM subscribes to is **_/velodyne_points_**, while the RS32 LiDAR default output topic is **_/rslidar_points_**. Therefore, modify the topic name at line 26 in the **_~/catkin_ws/src/rslidar_sdk/config/config.yaml_** file to **_/velodyne_points_**.
+  <div align="center">
+      <img width={400} 
+      src="https://files.seeedstudio.com/wiki/robotics/software/aloam/fig2.png" />
+  </div>
+
+- **Step 3:** If you are using C++14, modify line **5** in the **CMakeLists.txt** file located in the **_~/catkin_ws/src/A-LOAM/_** directory, changing **_C++11_** to **_C++14_**.
+  <div align="center">
+      <img width={400} 
+      src="https://files.seeedstudio.com/wiki/robotics/software/aloam/fig3.png" />
+  </div>
+
+- **Step 4:** If you are using **OpenCV 4.x**, you need to update the OpenCV header file references at line **44** in the **scanRegistration.cpp** file located in the **_~/catkin_ws/src/A-LOAM/src_** directory (this step can be skipped if you are using OpenCV 3.x).
+
+  Replace code
+  ```c++
+  #include <opencv/cv.h>
+  ```
+
+  with
+  ```c++
+  #include <opencv2/opencv.hpp>
+  ```
+
+  <div align="center">
+      <img width={400} 
+      src="https://files.seeedstudio.com/wiki/robotics/software/aloam/fig4.png" />
+  </div>
+
+- **Step 5:** In lines **91** and **93** of **_~/catkin_ws/src/A-LOAM/src/kittiHelper.cpp_**, change **_CV_LOAD_IMAGE_GRAYSCALE_** to **_cv::IMREAD_GRAYSCALE_**
+  <div align="center">
+      <img width={400} 
+      src="https://files.seeedstudio.com/wiki/robotics/software/aloam/fig5.png" />
+  </div>
+
+- **Step 6:** If you are using **tf2**, modify all **.cpp** files **(kittiHelper.cpp, laserMapping.cpp, laserOdometry.cpp, scanRegistration.cpp)** in the **_~/catkin_ws/src/A-LOAM/src/_** directory by changing **_frame_id=/camera_init_** to **_frame_id=camera_init_**, removing only the **'/'** symbol.
+  <div align="center">
+      <img width={400} 
+      src="https://files.seeedstudio.com/wiki/robotics/software/aloam/fig6.png" />
+  </div>
+
+### Compile the Package
+
+-  **Step 1:** Go back to the workspace and recompile the feature pack and reload the environment.
+  ```bash
+  cd ~/catkin_ws
+  catkin_make
+  source ~/catkin_ws/devel/setup.bash
+  ```
+
+### Starting 3D SLAM
+- **Step 1:** Running lidar code
+  ```bash
+    roslaunch rslidar_sdk start.launch
+  ```
+- **Step 2:** Running A loam code
+  ```bash
+  roslaunch aloam_velodyne aloam_velodyne_HDL_32.launch
+  ```
+  <div align="center">
+      <img width={800} 
+      src="https://files.seeedstudio.com/wiki/robotics/software/aloam/fig7.png" />
+  </div>
+
+
+## Tech Support & Product Discussion
+
+Thank you for choosing our products! We are here to provide you with different support to ensure that your experience with our products is as smooth as possible. We offer several communication channels to cater to different preferences and needs.
+
+<div class="button_tech_support_container">
+<a href="https://forum.seeedstudio.com/" class="button_forum"></a> 
+<a href="https://www.seeedstudio.com/contacts" class="button_email"></a>
+</div>
+
+<div class="button_tech_support_container">
+<a href="https://discord.gg/eWkprNDMU7" class="button_discord"></a> 
+<a href="https://github.com/Seeed-Studio/wiki-documents/discussions/69" class="button_discussion"></a>
+</div>