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matlabbe
2014-11-27 14:48:12 -05:00
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@@ -17,17 +17,16 @@ $ 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**. See [issue 8](https://code.google.com/p/rtabmap/issues/detail?id=8&can=1) for more details.
**Note for ROS Indigo**: If you want SURF/SIFT, you have to build OpenCV from source to have access to **nonfree module**. See [issue 8](https://code.google.com/p/rtabmap/issues/detail?id=8&can=1) for more details.
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). The workspace path is `~/catkin_ws` and your `~/.bashrc` contains:
```
```
source /opt/ros/hydro/setup.bash
source ~/catkin_ws/devel/setup.bash
```
First, you need to install the RTAB-Map standalone libraries.
1. First, you need to install the RTAB-Map standalone libraries.
```
$ git clone https://github.com/introlab/rtabmap.git rtabmap
@@ -37,7 +36,7 @@ $ make -j4
$ make install
```
Now install the RTAB-Map ros-pkg in your src folder of your Catkin workspace.
2. Now install the RTAB-Map ros-pkg in your src folder of your Catkin workspace.
```
$ cd ~/catkin_ws