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matlabbe
2020-03-10 11:58:10 -04:00
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@@ -115,11 +115,15 @@ To use `rtabmap_ros` on Jetson, you can follow the instructions above if you don
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).
7. To avoid [libGL undefined errors](https://devtalk.nvidia.com/default/topic/1007290/jetson-tx2/building-opencv-with-opengl-support-/post/5141945/#5141945) (**this step may not be required on Jetpack 4**):
7. To avoid [libGL undefined errors](https://devtalk.nvidia.com/default/topic/1007290/jetson-tx2/building-opencv-with-opengl-support-/post/5141945/#5141945):
```
$ cd /usr/lib/aarch64-linux-gnu/
# Jetpack 3:
$ sudo ln -sf tegra/libGL.so libGL.so
# Jetpack 4:
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**):
```
$ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/libvtkproj4.so