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matlabbe
2015-07-09 12:26:20 -04:00
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@@ -11,6 +11,10 @@ For the RTAB-Map libraries and standalone application, visit the [RTAB-Map's hom
### ROS distribution ### ROS distribution
RTAB-Map is released as binaries in the ROS distribution. RTAB-Map is released as binaries in the ROS distribution.
* Jade
```
$ sudo apt-get install ros-jade-rtabmap-ros
```
* Indigo * Indigo
``` ```
$ sudo apt-get install ros-indigo-rtabmap-ros $ sudo apt-get install ros-indigo-rtabmap-ros
@@ -21,13 +25,13 @@ $ sudo apt-get install ros-hydro-rtabmap-ros
``` ```
### Build from source ### Build from source
This section shows how to install RTAB-Map ros-pkg on **ROS Hydro/Indigo** (Catkin build). RTAB-Map works only with the PCL 1.7, which is the default version installed with ROS Hydro/Indigo (**Fuerte and Groovy are not supported**). This section shows how to install RTAB-Map ros-pkg on **ROS Hydro/Indigo/Jade** (Catkin build). RTAB-Map works only with the PCL 1.7, which is the default version installed with ROS Hydro/Indigo/Jade (**Fuerte and Groovy are not supported**).
* **Note for ROS Indigo**: If you want SURF/SIFT, you have to build OpenCV 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. * **Note for ROS Indigo/Jade**: If you want SURF/SIFT, you have to build OpenCV 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.
* The next instructions assume that you have setup 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: * The next instructions assume that you have setup 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/hydro/setup.bash source /opt/ros/[hydro|indigo|jade]/setup.bash
source ~/catkin_ws/devel/setup.bash source ~/catkin_ws/devel/setup.bash
``` ```