mirror of
https://github.com/introlab/rtabmap_ros.git
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73 lines
2.2 KiB
Markdown
73 lines
2.2 KiB
Markdown
rtabmap_ros
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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 the [rtabmap_ros](http://wiki.ros.org/rtabmap_ros) page on the ROS wiki.
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For the RTAB-Map libraries and standalone application, visit the [RTAB-Map's home page](http://introlab.github.io/rtabmap) or the [RTAB-Map's wiki](https://github.com/introlab/rtabmap/wiki).
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## Installation
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### ROS distribution
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RTAB-Map is released as binaries in the ROS distribution.
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* Jade
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```
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$ sudo apt-get install ros-jade-rtabmap-ros
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```
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* Indigo
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```
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$ sudo apt-get install ros-indigo-rtabmap-ros
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```
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* Hydro
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```
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$ sudo apt-get install ros-hydro-rtabmap-ros
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```
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### Build from source
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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**).
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* **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.
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* 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:
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```bash
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source /opt/ros/[hydro|indigo|jade]/setup.bash
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source ~/catkin_ws/devel/setup.bash
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```
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1. First, you need to install the RTAB-Map standalone libraries (**don't checkout in the Catkin workspace** but install in your Catkin's devel folder).
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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 -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel .. [<---double dots included]
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$ make -j4
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$ make install
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```
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2. Now install the 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
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```
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#### Update to new version
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```bash
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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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$ roscd rtabmap_ros
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$ git pull origin master
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$ cd ~/catkin_ws
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$ catkin_make
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```
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