mirror of
https://github.com/introlab/rtabmap_ros.git
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115 lines
5.1 KiB
Markdown
115 lines
5.1 KiB
Markdown
rtabmap_ros [](https://github.com/introlab/rtabmap_ros/actions/workflows/ros1.yml) [](https://github.com/introlab/rtabmap_ros/actions/workflows/docker.yml)
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=======
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RTAB-Map's ROS package.
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For more information, demos and tutorials about this package, visit [rtabmap_ros](http://wiki.ros.org/rtabmap_ros) page on ROS wiki.
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For the RTAB-Map libraries and standalone application, visit [RTAB-Map's home page](http://introlab.github.io/rtabmap) or [RTAB-Map's wiki](https://github.com/introlab/rtabmap/wiki).
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# Installation
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## ROS2 distribution
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**Under construction**: see [ros2 branch](https://github.com/introlab/rtabmap_ros/tree/ros2#rtabmap_ros).
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## ROS distribution
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RTAB-Map is released as binaries in the ROS distribution.
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* Noetic
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```
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$ sudo apt install ros-noetic-rtabmap-ros
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```
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* Melodic
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```
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$ sudo apt install ros-melodic-rtabmap-ros
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```
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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:
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```bash
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$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/noetic/lib/x86_64-linux-gnu
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```
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### Docker
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* Go to [docker](https://github.com/introlab/rtabmap_ros/tree/master/docker) directory for an example.
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## Build from source
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This section shows how to install RTAB-Map ros-pkg on **ROS Melodic/Noetic** (Catkin build).
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* The next instructions assume that you have set up your ROS workspace using this [tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace). The workspace path is `~/catkin_ws` and your `~/.bashrc` contains:
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```bash
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$ source /opt/ros/$ROS_DISTRO/setup.bash
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$ source ~/catkin_ws/devel/setup.bash
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```
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0. Required dependencies
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* The easiest way to get all them (Qt, PCL, VTK, OpenCV, ...) is to install/uninstall rtabmap binaries:
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```bash
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$ sudo apt install ros-$ROS_DISTRO-rtabmap ros-$ROS_DISTRO-rtabmap-ros
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$ sudo apt remove ros-$ROS_DISTRO-rtabmap ros-$ROS_DISTRO-rtabmap-ros
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```
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1. Optional dependencies
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* If you want SURF/SIFT on Melodic/Noetic, 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.
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* On 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).
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* [g2o](https://github.com/RainerKuemmerle/g2o): Should be already installed by `ros-$ROS_DISTRO-libg2o`.
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* [GTSAM](https://gtsam.org/get_started/): Install via PPA to avoid building from source. If you install from source, make sure to build with `cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON`.
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* [libpointmatcher](https://github.com/ethz-asl/libpointmatcher): **Recommended** if you are going to use lidars. Follow their [instructions](https://github.com/ethz-asl/libpointmatcher#quick-start) to install. Should be alread installed by `ros-$ROS_DISTRO-libpointmatcher`.
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2. Install RTAB-Map standalone libraries. **Do not clone in your Catkin workspace**.
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```bash
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$ cd ~
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$ git clone https://github.com/introlab/rtabmap.git rtabmap
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$ cd rtabmap/build
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$ cmake .. [<---double dots included]
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$ make -j6
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$ sudo make install
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```
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3. Install RTAB-Map ros-pkg in your src folder of your Catkin workspace.
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```bash
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$ cd ~/catkin_ws
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$ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
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$ catkin_make -j4
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```
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* 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).
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* Options:
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* Add `-DRTABMAP_SYNC_MULTI_RGBD=ON` to `catkin_make` if you plan to use multiple cameras.
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* Add `-DRTABMAP_SYNC_USER_DATA=ON` to `catkin_make` if you plan to use user data synchronized topics.
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## Build from source for Nvidia Jetson
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* For **Jetpack 4** (Ubuntu 18.04 with ROS Melodic), see this [post](https://github.com/introlab/rtabmap/issues/427#issuecomment-608052821).
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* For **Jetpack 3** (Ubuntu 16.04 with ROS Kinetic), see this [post](https://github.com/introlab/rtabmap_ros/issues/655).
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### Update to new version
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```bash
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###########
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# rtabmap
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###########
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$ cd rtabmap
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$ git pull origin master
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$ cd build
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$ make
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$ make install
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# Do "sudo make install" if you installed rtabmap in "/usr/local"
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###########
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# rtabmap_ros
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###########
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$ roscd rtabmap_ros
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$ git pull origin master
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$ roscd
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$ cd ..
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$ catkin_make -j1 --pkg rtabmap_ros
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```
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