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matlabbe
2020-03-10 11:52:31 -04:00
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@@ -115,12 +115,12 @@ To use `rtabmap_ros` on Jetson, you can follow the instructions above if you don
4. Do step 1.6 from http://wiki.ros.org/kinetic/Installation/Ubuntu 4. Do step 1.6 from http://wiki.ros.org/kinetic/Installation/Ubuntu
5. [Create your catkin workspace](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment#Create_a_ROS_Workspace) 5. [Create your catkin workspace](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment#Create_a_ROS_Workspace)
6. *Optional:* Install g2o and/or GTSAM dependencies as above (increase visual odometry and graph optimization accuracy). 6. *Optional:* Install g2o and/or GTSAM dependencies as above (increase visual odometry and graph optimization accuracy).
7. To avoid [libGL undefined errors](https://devtalk.nvidia.com/default/topic/1007290/jetson-tx2/building-opencv-with-opengl-support-/post/5141945/#5141945): 7. To avoid [libGL undefined errors](https://devtalk.nvidia.com/default/topic/1007290/jetson-tx2/building-opencv-with-opengl-support-/post/5141945/#5141945) (**this step may not be required on Jetpack 4**):
``` ```
$ cd /usr/lib/aarch64-linux-gnu/ $ cd /usr/lib/aarch64-linux-gnu/
$ sudo ln -sf tegra/libGL.so libGL.so $ sudo ln -sf tegra/libGL.so libGL.so
``` ```
8. To avoid [libvtkproj4 errors](https://github.com/PointCloudLibrary/pcl/issues/1594#issuecomment-283873617): 8. To avoid [libvtkproj4 errors](https://github.com/PointCloudLibrary/pcl/issues/1594#issuecomment-283873617) (**this step may not be required on Jetpack 4**):
``` ```
$ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/libvtkproj4.so $ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/libvtkproj4.so
$ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/aarch64-linux-gnu/libvtkproj4-6.2.so.6.2.0 $ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/aarch64-linux-gnu/libvtkproj4-6.2.so.6.2.0