mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
130 lines
6.6 KiB
Markdown
130 lines
6.6 KiB
Markdown
rtabmap_ros [](https://github.com/introlab/rtabmap_ros/actions/workflows/ros1.yml) [](https://github.com/introlab/rtabmap_ros/actions/workflows/docker.yml)
|
|
=======
|
|
|
|
RTAB-Map's ROS package.
|
|
|
|
For more information, demos and tutorials about this package, visit [rtabmap_ros](http://wiki.ros.org/rtabmap_ros) page on ROS wiki.
|
|
|
|
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).
|
|
|
|
# Installation
|
|
|
|
## ROS2 distribution
|
|
**Under construction**: see [ros2 branch](https://github.com/introlab/rtabmap_ros/tree/ros2#rtabmap_ros).
|
|
|
|
## ROS distribution
|
|
RTAB-Map is released as binaries in the ROS distribution.
|
|
* Noetic
|
|
```
|
|
$ sudo apt install ros-noetic-rtabmap-ros
|
|
```
|
|
* Melodic
|
|
```
|
|
$ sudo apt install ros-melodic-rtabmap-ros
|
|
```
|
|
* Kinetic
|
|
```
|
|
$ sudo apt-get install ros-kinetic-rtabmap-ros
|
|
```
|
|
* Indigo
|
|
```
|
|
$ sudo apt-get install ros-indigo-rtabmap-ros
|
|
```
|
|
* For armhf architecture, `ros-indigo-rtabmap-ros` is not available. Install `ros-indigo-rtabmap` and build from source `rtabmap_ros` using the `indigo-devel` branch.
|
|
```
|
|
$ cd catkin_ws
|
|
$ git clone -b indigo-devel https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
|
|
$ catkin_make -j1
|
|
```
|
|
|
|
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/noetic/lib/x86_64-linux-gnu
|
|
```
|
|
|
|
### Docker
|
|
|
|
* Go to [docker](https://github.com/introlab/rtabmap_ros/tree/master/docker) directory for an example.
|
|
|
|
|
|
## Build from source
|
|
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 `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/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 install ros-noetic-rtabmap ros-noetic-rtabmap-ros
|
|
$ sudo apt remove ros-noetic-rtabmap ros-noetic-rtabmap-ros
|
|
```
|
|
|
|
1. Optional dependencies
|
|
* 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](https://github.com/RainerKuemmerle/g2o): Should be already installed by `ros-noetic-libg2o`.
|
|
|
|
* [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`.
|
|
|
|
* [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. **Do not clone in your Catkin workspace**.
|
|
```bash
|
|
$ cd ~
|
|
$ git clone https://github.com/introlab/rtabmap.git rtabmap
|
|
$ cd rtabmap/build
|
|
$ cmake .. [<---double dots included]
|
|
$ make -j6
|
|
$ sudo make install
|
|
```
|
|
|
|
3. Install RTAB-Map ros-pkg in your src folder of your Catkin workspace.
|
|
|
|
```bash
|
|
$ cd ~/catkin_ws
|
|
$ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
|
|
$ catkin_make -j4
|
|
```
|
|
* 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
|
|
* For **Jetpack 4** (Ubuntu 18.04 with ROS Melodic), see this [post](https://github.com/introlab/rtabmap/issues/427#issuecomment-608052821).
|
|
* For **Jetpack 3** (Ubuntu 16.04 with ROS Kinetic), see this [post](https://github.com/introlab/rtabmap_ros/issues/655).
|
|
|
|
|
|
### Update to new version
|
|
|
|
```bash
|
|
###########
|
|
# rtabmap
|
|
###########
|
|
$ cd rtabmap
|
|
$ git pull origin master
|
|
$ cd build
|
|
$ make
|
|
$ make install
|
|
# Do "sudo make install" if you installed rtabmap in "/usr/local"
|
|
|
|
###########
|
|
# rtabmap_ros
|
|
###########
|
|
$ roscd rtabmap_ros
|
|
$ git pull origin master
|
|
$ roscd
|
|
$ cd ..
|
|
$ catkin_make -j1 --pkg rtabmap_ros
|
|
```
|
|
|
|
|