i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-03 16:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update README.md

Browse Source
This commit is contained in:
matlabbe
2015-10-06 09:29:50 -04:00
parent 08bfa52a1c
commit 13619a40af
1 changed files with 18 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
README.md
+18 -4
View File
@@ -28,14 +28,28 @@ $ sudo apt-get install ros-hydro-rtabmap-ros
This section shows how to install RTAB-Map ros-pkg on **ROS Hydro/Indigo/Jade** (Catkin build). RTAB-Map works only with the PCL 1.7, which is the default version installed with ROS Hydro/Indigo/Jade (**Fuerte and Groovy are not supported**). This section shows how to install RTAB-Map ros-pkg on **ROS Hydro/Indigo/Jade** (Catkin build). RTAB-Map works only with the PCL 1.7, which is the default version installed with ROS Hydro/Indigo/Jade (**Fuerte and Groovy are not supported**).
* **Note for ROS Indigo/Jade**: If you want SURF/SIFT, you have to build OpenCV from source to have access to *nonfree* module. Install it in `/usr/local` (default) and the rtabmap library should link with it instead of the one installed in ROS. * **Note for ROS Indigo/Jade**: If you want SURF/SIFT, you have to build OpenCV from source to have access to *nonfree* module. Install it in `/usr/local` (default) and the rtabmap library should link with it instead of the one installed in ROS.
* The next instructions assume that you have setup your ROS workspace using this [tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace). The workspace path is `~/catkin_ws` and your `~/.bashrc` contains: * The next instructions assume that you have setup your ROS workspace using this [tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace). I will use indigo prefix for conveninence, but it should work with hydro and jade. The workspace path is `~/catkin_ws` and your `~/.bashrc` contains:
```bash ```bash
source /opt/ros/[hydro|indigo|jade]/setup.bash source /opt/ros/indigo/setup.bash
source ~/catkin_ws/devel/setup.bash source ~/catkin_ws/devel/setup.bash
``` ```
1. First, you need to install the RTAB-Map standalone libraries (**don't checkout in the Catkin workspace** but install in your Catkin's devel folder). 0. Optional dependencies
* ROS (Qt, dc1394, OpenNI, OpenNI2, Freenect, g2o, Costmap2d, Rviz, Octomap):
```bash
$ sudo apt-get install libqt4-dev libdc1394-dev ros-indigo-openni-launch ros-indigo-openni2-launch ros-indigo-freenect-launch ros-indigo-costmap-2d ros-indigo-octomap-ros ros-indigo-g2o ros-indigo-rviz
```
Note that I've found that [latest g2o version](https://github.com/RainerKuemmerle/g2o) built from source is faster.
* [GTSAM](https://collab.cc.gatech.edu/borg/gtsam): Follow installation instructions from [here](https://collab.cc.gatech.edu/borg/gtsam/#quickstart). RTAB-Map needs latest version from source, it will not build with 3.2.1.
* [cvsba](http://www.uco.es/investiga/grupos/ava/node/39): Follow installation instructions from [here](http://www.uco.es/investiga/grupos/ava/node/39). Their installation is not standard CMake, you need these extra steps so RTAB-Map can find it:
```bash
$ mkdir /usr/local/lib/cmake/cvsba
$ mv /usr/local/lib/cmake/Findcvsba.cmake /usr/local/lib/cmake/cvsba/cvsbaConfig.cmake
```
* Freenect2: Follow installation instructions from [here](https://github.com/OpenKinect/libfreenect2#debianubuntu-1404-perhaps-earlier).
1. Install the RTAB-Map standalone libraries (**don't checkout in the Catkin workspace** but install in your Catkin's devel folder).
```bash ```bash
$ cd ~ $ cd ~
@@ -46,7 +60,7 @@ $ make -j4
$ make install $ make install
``` ```
2. Now install the RTAB-Map ros-pkg in your src folder of your Catkin workspace. 2. Install the RTAB-Map ros-pkg in your src folder of your Catkin workspace.
```bash ```bash
$ cd ~/catkin_ws $ cd ~/catkin_ws