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Docker: added noetic image. Updated travis for focal.

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matlabbe
2020-06-09 21:16:46 -04:00
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README.md
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@@ -14,22 +14,18 @@ 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.
* Noetic
```
$ sudo apt-get install ros-noetic-rtabmap-ros
```
* Melodic
```
$ sudo apt-get install ros-melodic-rtabmap-ros
```
* Lunar
```
$ sudo apt-get install ros-lunar-rtabmap-ros
```
* Kinetic
```
$ sudo apt-get install ros-kinetic-rtabmap-ros
```
* Jade
```
$ sudo apt-get install ros-jade-rtabmap-ros
```
* Indigo
```
$ sudo apt-get install ros-indigo-rtabmap-ros
@@ -40,16 +36,11 @@ RTAB-Map is released as binaries in the ROS distribution.
$ git clone -b indigo-devel https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
$ catkin_make -j1
```
* Hydro:
```
$ sudo apt-get install ros-hydro-rtabmap-ros
```
* Note that rtabmap_ros Hydro binaries are stuck at version 0.8.12. To use the latest version, see [Build from source](https://github.com/introlab/rtabmap_ros#build-from-source) below.
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:
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:
```bash
$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/melodic/lib/x86_64-linux-gnu
$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/noetic/lib/x86_64-linux-gnu
```
### Docker
@@ -58,33 +49,32 @@ $ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/melodic/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/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**).
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**).
* 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:
* 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:
```bash
$ source /opt/ros/melodic/setup.bash
$ source /opt/ros/noetic/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-melodic-rtabmap ros-melodic-rtabmap-ros
$ sudo apt-get remove ros-melodic-rtabmap ros-melodic-rtabmap-ros
$ sudo apt-get install ros-melodic-rtabmap ros-noetic-rtabmap-ros
$ sudo apt-get remove ros-melodic-rtabmap ros-noetic-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/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.
* 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.
* 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 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: 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.
* g2o: Should be already installed by `ros-noetic-libg2o`.
* [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
git clone https://bitbucket.org/gtborg/gtsam.git
```
* [GTSAM](https://gtsam.org/get_started/): Install via PPA to avoid building from source.
* [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.
2. Install RTAB-Map standalone libraries. Add `-DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel` to `cmake` command below if you want to install in your Catkin's devel folder without `sudo`. **Do not clone in your Catkin workspace**.
```bash
@@ -103,7 +93,10 @@ This section shows how to install RTAB-Map ros-pkg on **ROS Hydro/Indigo/Jade/Ki
$ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
$ catkin_make -j1
```
* Use `catkin_make -j1` if compilation requires more RAM than you have (e.g., some files require up to ~1.8 GB to build).
* Use `catkin_make -j1` if compilation requires more RAM than you have (e.g., some files require up to ~2 GB to build depending on gcc version).
* Options:
* Add `-DRTABMAP_SYNC_MULTI_RGBD=ON` to `catkin_make` if you plan to use multiple cameras.
* Add `-DRTABMAP_SYNC_USER_DATA=ON` to `catkin_make` if you plan to use user data synchronized topics.
## 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).