i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 08:47:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update README.md

Browse Source 
Cleanup, removed EOL distros
This commit is contained in:
matlabbe
2022-09-05 12:35:42 -07:00
committed by GitHub
parent ab676c15a5
commit 5024574e4a
1 changed files with 9 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
README.md
+9 -24
View File
@@ -22,20 +22,6 @@ RTAB-Map is released as binaries in the ROS distribution.
``` ```
$ sudo apt install ros-melodic-rtabmap-ros $ sudo apt install ros-melodic-rtabmap-ros
``` ```
* Kinetic
```
$ sudo apt-get install ros-kinetic-rtabmap-ros
```
* Indigo
```
$ sudo apt-get install ros-indigo-rtabmap-ros
```
* For armhf architecture, `ros-indigo-rtabmap-ros` is not available. Install `ros-indigo-rtabmap` and build from source `rtabmap_ros` using the `indigo-devel` branch.
```
$ cd catkin_ws
$ git clone -b indigo-devel https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
$ catkin_make -j1
```
When launching `rtabmap_ros`'s nodes, if you have the error `error while loading shared libraries...`, try `ldconfig` or add the next line at the end of your `~/.bashrc` to fix it: When launching `rtabmap_ros`'s nodes, if you have the error `error while loading shared libraries...`, try `ldconfig` or add the next line at the end of your `~/.bashrc` to fix it:
@@ -49,32 +35,31 @@ $ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/noetic/lib/x86_64-linux-gnu
## Build from source ## Build from source
This section shows how to install RTAB-Map ros-pkg on **ROS Hydro/Indigo/Jade/Kinetic/Lunar/Melodic/Noetic** (Catkin build). RTAB-Map works only with the PCL >=1.7, which is the default version installed with ROS Hydro/Indigo/Jade/Kinetic/Lunar/Melodic/Noetic (**Fuerte and Groovy are not supported**). This section shows how to install RTAB-Map ros-pkg on **ROS Melodic/Noetic** (Catkin build).
* The next instructions assume that you have set up your ROS workspace using this [tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace). I will use `noetic` prefix for convenience, but it should work with Hydro, Indigo, Jade, Kinetic, Lunar and Melodic. The workspace path is `~/catkin_ws` and your `~/.bashrc` contains: * The next instructions assume that you have set up 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:
```bash ```bash
$ source /opt/ros/noetic/setup.bash $ source /opt/ros/$ROS_DISTRO/setup.bash
$ source ~/catkin_ws/devel/setup.bash $ source ~/catkin_ws/devel/setup.bash
``` ```
0. Required dependencies 0. Required dependencies
* The easiest way to get all them (Qt, PCL, VTK, OpenCV, ...) is to install/uninstall rtabmap binaries: * The easiest way to get all them (Qt, PCL, VTK, OpenCV, ...) is to install/uninstall rtabmap binaries:
```bash ```bash
$ sudo apt install ros-noetic-rtabmap ros-noetic-rtabmap-ros $ sudo apt install ros-$ROS_DISTRO-rtabmap ros-$ROS_DISTRO-rtabmap-ros
$ sudo apt remove ros-noetic-rtabmap ros-noetic-rtabmap-ros $ sudo apt remove ros-$ROS_DISTRO-rtabmap ros-$ROS_DISTRO-rtabmap-ros
``` ```
1. Optional dependencies 1. Optional dependencies
* If you want SURF/SIFT on Indigo/Jade/Melodic/Noetic (Hydro/Kinetic has already SIFT/SURF), you have to build [OpenCV]([OpenCV](http://opencv.org/)) from source to have access to *xfeatures2d* and *nonfree* modules (note that SIFT is not in *nonfree* anymore since OpenCV 4.4.0). Install it in `/usr/local` (default) and rtabmap library should link with it instead of the one installed in ROS. * If you want SURF/SIFT on Melodic/Noetic, you have to build [OpenCV]([OpenCV](http://opencv.org/)) from source to have access to *xfeatures2d* and *nonfree* modules (note that SIFT is not in *nonfree* anymore since OpenCV 4.4.0). Install it in `/usr/local` (default) and rtabmap library should link with it instead of the one installed in ROS.
* On Indigo, 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 `rtabmap_ros` package will have libraries conflict as `cv_bridge` is depending on OpenCV2. If you want OpenCV3+, you should build [vision-opencv](https://github.com/ros-perception/vision_opencv) package yourself (and all ros packages depending on it) so it can link on OpenCV3+. * On Melodic/Noetic, build from source with *xfeatures2d* module (and *nonfree* module if needed) the same OpenCV version already installed on the system. You will then avoid breaking `cv_bridge` with `rtabmap_ros`. If you want to install a more recent OpenCV version, I recommend to uninstall `libopencv*` libraries (with all ros packages depending on it) and rebuild all those ros packages in your catkin workspace (to make sure `cv_bridge` is linked on the OpenCV version you just compiled).
* On Kinetic/Melodic/Noetic, build from source with *xfeatures2d* module (and *nonfree* module if needed) the same OpenCV version already installed on the system. You will then avoid breaking `cv_bridge` with `rtabmap_ros`. If you want to install a more recent OpenCV version, I recommend to uninstall `libopencv*` libraries (with all ros packages depending on it) and rebuild all those ros packages in your catkin workspace (to make sure `cv_bridge` is linked on the OpenCV version you just compiled).
* [g2o](https://github.com/RainerKuemmerle/g2o): Should be already installed by `ros-noetic-libg2o`. * [g2o](https://github.com/RainerKuemmerle/g2o): Should be already installed by `ros-$ROS_DISTRO-libg2o`.
* [GTSAM](https://gtsam.org/get_started/): Install via PPA to avoid building from source. If you install from source, make sure to build with `cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON`. * [GTSAM](https://gtsam.org/get_started/): Install via PPA to avoid building from source. If you install from source, make sure to build with `cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON`.
* [libpointmatcher](https://github.com/ethz-asl/libpointmatcher): **Recommended** if you are going to use lidars. Follow their [instructions](https://github.com/ethz-asl/libpointmatcher#quick-start) to install. * [libpointmatcher](https://github.com/ethz-asl/libpointmatcher): **Recommended** if you are going to use lidars. Follow their [instructions](https://github.com/ethz-asl/libpointmatcher#quick-start) to install. Should be alread installed by `ros-$ROS_DISTRO-libpointmatcher`.
2. Install RTAB-Map standalone libraries. **Do not clone in your Catkin workspace**. 2. Install RTAB-Map standalone libraries. **Do not clone in your Catkin workspace**.
```bash ```bash