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@@ -105,13 +105,14 @@ This section shows how to install RTAB-Map ros-pkg on **ROS Hydro/Indigo/Jade/Ki
```
* Use `catkin_make -j1` if compilation requires more RAM than you have (e.g., some files require up to ~1.8 GB to build).
## Build from source for Nvidia Jetson with OpenCV 4 Tegra
## Build from source for Nvidia Jetson
These instructions are for Jetpack 3 (Ubuntu 16.04 with ROS Kinetic). For **Jetpack 4** (Ubuntu 18.04 with ROS Melodic), see this [post](https://github.com/introlab/rtabmap/issues/427#issuecomment-608052821).
To use `rtabmap_ros` on Jetson, you can follow the instructions above if you don't care if OpenCV is built for Tegra. However, if you want `rtabmap` to use OpenCV 4 Tegra, we must re-build [vision_opencv](https://github.com/ros-perception/vision_opencv) stack from source too to avoid conflicts with [vision_opencv](https://github.com/ros-perception/vision_opencv) stack binaries from ros (which are linked on a not optimized version of OpenCV). Here are the steps:
1. Install [JetPack](https://developer.nvidia.com/embedded/jetpack) with OpenCV on the Jetson.
2. Do steps 1.2 and 1.3 from http://wiki.ros.org/kinetic/Installation/Ubuntu
3. Install non-opencv dependent ros packages:
* Jetpack 3: `sudo apt-get install ros-kinetic-ros-base ros-kinetic-image-transport ros-kinetic-tf ros-kinetic-tf-conversions ros-kinetic-eigen-conversions ros-kinetic-laser-geometry ros-kinetic-pcl-conversions ros-kinetic-pcl-ros ros-kinetic-move-base-msgs ros-kinetic-rviz ros-kinetic-octomap-ros ros-kinetic-move-base libhdf5-openmpi-dev libsuitesparse-dev`
* Jetpack 4: `sudo apt-get install ros-melodic-ros-base ros-melodic-image-transport ros-melodic-tf ros-melodic-tf-conversions ros-melodic-eigen-conversions ros-melodic-laser-geometry ros-melodic-pcl-conversions ros-melodic-pcl-ros ros-melodic-move-base-msgs ros-melodic-rviz ros-melodic-octomap-ros ros-melodic-move-base libhdf5-openmpi-dev libsuitesparse-dev`
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)
6. *Optional:* Install g2o and/or GTSAM dependencies as above (increase visual odometry and graph optimization accuracy).
@@ -124,7 +125,7 @@ To use `rtabmap_ros` on Jetson, you can follow the instructions above if you don
sudo ln -sf libGL.so.1.0.0 libGL.so
```
8. To avoid [libvtkproj4 errors](https://github.com/PointCloudLibrary/pcl/issues/1594#issuecomment-283873617) (**this step may not be required on Jetpack 4**):
8. To avoid [libvtkproj4 errors](https://github.com/PointCloudLibrary/pcl/issues/1594#issuecomment-283873617):
```
$ 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