From 18d6151cec90cb53c85238a7bbeb8c91d37adf62 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Tue, 6 Oct 2015 09:44:56 -0400 Subject: [PATCH] Update README.md --- README.md | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 0746e9cb..06d4e16c 100644 --- a/README.md +++ b/README.md @@ -26,7 +26,6 @@ $ sudo apt-get install ros-hydro-rtabmap-ros ### Build from source 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. * 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: @@ -36,11 +35,11 @@ source ~/catkin_ws/devel/setup.bash ``` 0. Optional dependencies - * ROS (Qt, dc1394, OpenNI, OpenNI2, Freenect, g2o, Costmap2d, Rviz, Octomap): + * If you want SURF/SIFT on Indigo/Jade (Hydro has already SIFT/SURF), you have to build [OpenCV]([OpenCV](http://opencv.org/)) 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. I recommend to use latest 2.4 version ([2.4.11](https://github.com/Itseez/opencv/archive/2.4.11.zip)) and build it from source following these [instructions](http://docs.opencv.org/doc/tutorials/introduction/linux_install/linux_install.html#building-opencv-from-source-using-cmake-using-the-command-line). RTAB-Map can build with OpenCV3+[xfeatures2d](https://github.com/Itseez/opencv_contrib/tree/master/modules/xfeatures2d) module, but the rtabmap-ros package will have libraries conflict as cv-bridge is depending on OpenCV2. If you want OpenCV3, you should build ros [vision-opencv](https://github.com/ros-perception/vision_opencv) package yourself (and all ros packages depending on it) so it can link on OpenCV3. + * ROS (Qt, PCL, dc1394, OpenNI, OpenNI2, Freenect, g2o, Costmap2d, Rviz, Octomap, CvBridge). Note that I've found that [latest g2o version](https://github.com/RainerKuemmerle/g2o) built from source is faster. ```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 +$ sudo apt-get install libqt4-dev libpcl-1.7-all-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 ros-indigo-cv-bridge ``` - 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