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matlabbe
2015-02-12 11:08:48 -05:00
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@@ -21,8 +21,8 @@ $ sudo apt-get install ros-hydro-rtabmap-ros
```
### Build from source
This section shows how to install RTAB-Map ros-pkg on **ROS Hydro** (Catkin build). RTAB-Map works only with the PCL 1.7, which is the default version installed with ROS Hydro (**Fuerte and Groovy are not supported**).
* **Note for ROS Indigo**: 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.
This section shows how to install RTAB-Map ros-pkg on **ROS Hydro/Indigo** (Catkin build). RTAB-Map works only with the PCL 1.7, which is the default version installed with ROS Hydro/Indigo (**Fuerte and Groovy are not supported**).
* **Note for ROS Indigo**: 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:
@@ -31,7 +31,7 @@ source /opt/ros/hydro/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**).
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).
```
$ git clone https://github.com/introlab/rtabmap.git rtabmap