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Updated Installation (markdown)

matlabbe
2017-06-28 15:34:21 -04:00
parent 5191011e59
commit e0f34d73bd
1 changed files with 57 additions and 54 deletions
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Installation.md
+18 -15
@@ -6,6 +6,8 @@ This page shows how to install RTAB-Map on different systems. For previous relea
* [Standalone](#standalone) * [Standalone](#standalone)
* [Ubuntu](#ubuntu) * [Ubuntu](#ubuntu)
* [Docker](#docker) * [Docker](#docker)
* [Image RTAB-Map Desktop](#docker)
* [Image RTAB-Map Tango](#docker)
* [Raspberry Pi](#raspberrypi) * [Raspberry Pi](#raspberrypi)
* [Mac OS X](#macosx) * [Mac OS X](#macosx)
* [Windows](#windows) * [Windows](#windows)
@@ -116,12 +118,13 @@ $ sudo make install
## Docker <img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/logos/docker.png" alt="Docker" height="20"/> ## Docker <img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/logos/docker.png" alt="Docker" height="20"/>
* Docker repository: [intolab3it/rtabmap](https://hub.docker.com/r/introlab3it/rtabmap/) * Docker repository: [intolab3it/rtabmap](https://hub.docker.com/r/introlab3it/rtabmap/)
* RTAB-Map Desktop (ubuntu 16.04) #### RTAB-Map Desktop (ubuntu 16.04)
```bash
$ docker pull introlab3it/rtabmap:latest ```bash
``` $ docker pull introlab3it/rtabmap:latest
* To be able to run rtabmap, we should install opengl support in the image. To do so, visit [this tutorial](http://gernotklingler.com/blog/howto-get-hardware-accelerated-opengl-support-docker/) for details. Replace `FROM ubuntu` by `FROM introlab3it/rtabmap`. ```
1. Create a `Dockerfile` (example on Ubuntu host machine, choose GPU driver used on host machine): * To be able to run rtabmap, we should install opengl support in the image. To do so, visit [this tutorial](http://gernotklingler.com/blog/howto-get-hardware-accelerated-opengl-support-docker/) for details. Replace `FROM ubuntu` by `FROM introlab3it/rtabmap`.
1. Create a `Dockerfile` (example on Ubuntu host machine, choose GPU driver used on host machine):
* NVIDIA driver: * NVIDIA driver:
1. Download on [nvidia website](http://www.nvidia.com/object/unix.html) the same driver (e.g., NVIDIA-Linux-x86_64-375.39.run) than the one installed on the host computer 1. Download on [nvidia website](http://www.nvidia.com/object/unix.html) the same driver (e.g., NVIDIA-Linux-x86_64-375.39.run) than the one installed on the host computer
2. Rename it to NVIDIA_DRIVER.run 2. Rename it to NVIDIA_DRIVER.run
@@ -145,25 +148,25 @@ $ sudo make install
RUN apt-get install -y mesa-utils RUN apt-get install -y mesa-utils
RUN apt-get install -y xserver-xorg-video-all RUN apt-get install -y xserver-xorg-video-all
``` ```
2. Build image: 2. Build image:
```bash ```bash
$ docker build -t rtabmap3d . $ docker build -t rtabmap3d .
``` ```
3. Allow connections to X server 3. Allow connections to X server
```bash ```bash
$ xhost + $ xhost +
``` ```
4. Run rtabmap! 4. Run rtabmap!
```bash ```bash
$ docker run --privileged -e "DISPLAY=unix$DISPLAY" -v="/tmp/.X11-unix:/tmp/.X11-unix:rw" -i -t --rm rtabmap3d rtabmap $ docker run --privileged -e "DISPLAY=unix$DISPLAY" -v="/tmp/.X11-unix:/tmp/.X11-unix:rw" -i -t --rm rtabmap3d rtabmap
``` ```
* RTAB-Map Tango (APK) #### RTAB-Map Tango (APK)
```bash ```bash
$ docker pull introlab3it/rtabmap:tango $ docker pull introlab3it/rtabmap:tango
``` ```
Note that `arm64-v8a` APK contains both `armeabi-v7a` and `arm64-v8a` binaries. Note that `arm64-v8a` APK contains both `armeabi-v7a` and `arm64-v8a` binaries.
* Install APK, 2 choices: * Install APK, 2 choices:
1. Copy file on host computer then install it with `adb` from there: 1. Copy file on host computer then install it with `adb` from there:
```bash ```bash
$ docker run --name=rtabmap-tango introlab3it/rtabmap:tango $ docker run --name=rtabmap-tango introlab3it/rtabmap:tango