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matlabbe
2019-08-16 11:29:10 -04:00
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@@ -11,6 +11,10 @@ For the RTAB-Map libraries and standalone application, visit [RTAB-Map's home pa
## ROS distribution
RTAB-Map is released as binaries in the ROS distribution.
* Melodic
```
$ sudo apt-get install ros-melodic-rtabmap-ros
```
* Lunar
```
$ sudo apt-get install ros-lunar-rtabmap-ros
@@ -42,7 +46,7 @@ RTAB-Map is released as binaries in the ROS distribution.
When launching `rtabmap_ros`'s nodes, if you have the error `error while loading shared libraries...`, add the next line at the end of your `~/.bashrc` to fix it:
```bash
$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/kinetic/lib/x86_64-linux-gnu
$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/melodic/lib/x86_64-linux-gnu
```
### Docker
@@ -51,28 +55,28 @@ $ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/kinetic/lib/x86_64-linux-gnu
## Build from source
This section shows how to install RTAB-Map ros-pkg on **ROS Hydro/Indigo/Jade/Kinetic/Lunar** (Catkin build). RTAB-Map works only with the PCL >=1.7, which is the default version installed with ROS Hydro/Indigo/Jade/Kinetic/Lunar (**Fuerte and Groovy are not supported**).
This section shows how to install RTAB-Map ros-pkg on **ROS Hydro/Indigo/Jade/Kinetic/Lunar/Melodic** (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 (**Fuerte and Groovy are not supported**).
* 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 kinetic prefix for convenience, but it should work with Hydro, Indigo, Jade and Lunar. 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). I will use melodic prefix for convenience, but it should work with Hydro, Indigo, Jade, Kinetic and Lunar. The workspace path is `~/catkin_ws` and your `~/.bashrc` contains:
```bash
$ source /opt/ros/kinetic/setup.bash
$ source /opt/ros/melodic/setup.bash
$ source ~/catkin_ws/devel/setup.bash
```
0. Required dependencies
* The easiest way to get all them (Qt, PCL, VTK, OpenCV, ...) is to install/uninstall rtabmap binaries:
```bash
$ sudo apt-get install ros-kinetic-rtabmap ros-kinetic-rtabmap-ros
$ sudo apt-get remove ros-kinetic-rtabmap ros-kinetic-rtabmap-ros
$ sudo apt-get install ros-melodic-rtabmap ros-melodic-rtabmap-ros
$ sudo apt-get remove ros-melodic-rtabmap ros-melodic-rtabmap-ros
```
1. Optional dependencies
* 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.
* On Indigo/Jade, 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 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.
* On Kinetic/Lunar, I recommend to use OpenCV3+[xfeatures2d](https://github.com/Itseez/opencv_contrib/tree/master/modules/xfeatures2d) module already installed by ROS. You can also install OpenCV2, but rtabmap_ros package will have libraries conflict as cv-bridge is depending on OpenCV3. Thus if you want OpenCV2 on Kinetic/Lunar, 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 OpenCV2.
* On Kinetic/Lunar/Melodic, I recommend to use OpenCV3+[xfeatures2d](https://github.com/Itseez/opencv_contrib/tree/master/modules/xfeatures2d) module already installed by ROS. You can also install OpenCV2, but rtabmap_ros package will have libraries conflict as cv-bridge is depending on OpenCV3. Thus if you want OpenCV2 on Kinetic/Lunar/Melodic, 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 OpenCV2.
* g2o: Use directly the binaries `ros-kinetic-libg2o`. However, [this g2o version](https://github.com/felixendres/g2o/tree/c++03) (c++03 branch) built from source may be faster than the binaries (install `libsuitesparse-dev` before building `g2o`) and would be [required to avoid some crashes](http://official-rtab-map-forum.67519.x6.nabble.com/ROS-2D-occupancy-grid-tp1204p1215.html). To build RTAB-Map against [latest official g2o version](https://github.com/RainerKuemmerle/g2o) built from source, g2o should be built with `-DBUILD_WITH_MARCH_NATIVE=OFF` to avoid some segmentation faults caused by Eigen.
* g2o: Use directly the binaries `ros-melodic-libg2o`. However, [this g2o version](https://github.com/felixendres/g2o/tree/c++03) (c++03 branch) built from source may be faster than the binaries (install `libsuitesparse-dev` before building `g2o`) and would be [required to avoid some crashes](http://official-rtab-map-forum.67519.x6.nabble.com/ROS-2D-occupancy-grid-tp1204p1215.html). To build RTAB-Map against [latest official g2o version](https://github.com/RainerKuemmerle/g2o) built from source, g2o should be built with `-DBUILD_WITH_MARCH_NATIVE=OFF` to avoid some segmentation faults caused by Eigen.
* [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. Set cmake variable `GTSAM_USE_SYSTEM_EIGEN=ON` to make sure the same Eigen version is used across all dependencies to avoid crashes.
```bash