Coder Social home page Coder Social logo

caomw / iiith_rtabmap Goto Github PK

View Code? Open in Web Editor NEW

This project forked from exception4u/iiith_rtabmap

0.0 1.0 0.0 2.03 MB

RTABMAP fork for IIITH dataset

Home Page: http://tusharvaidya.info

License: BSD 3-Clause "New" or "Revised" License

CMake 1.90% Makefile 0.01% Python 0.42% Shell 0.09% C++ 97.58%

iiith_rtabmap's Introduction

rtabmap_ros

RTAB-Map's ROS package.

For more information, demos and tutorials about this package, visit rtabmap_ros page on ROS wiki.

For the RTAB-Map libraries and standalone application, visit RTAB-Map's home page or RTAB-Map's wiki.

Installation

ROS distribution

RTAB-Map is released as binaries in the ROS distribution. For latest binaries, use ros-shadow-fixed repository.

  • Kinetic
$ sudo apt-get install ros-kinetic-rtabmap-ros
  • Jade
$ sudo apt-get install ros-jade-rtabmap-ros
  • Indigo
$ sudo apt-get install ros-indigo-rtabmap-ros
  • Hydro:
$ sudo apt-get install ros-hydro-rtabmap-ros
  • Note that rtabmap_ros Hydro binaries are stuck at version 0.8.12. To use the latest version, see Build from source below.

When launching rtabmap_ros's nodes, if you have the error error while loading shared libraries..., add the next line at the end of your ~/.bashrc to fix it:

$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/kinetic/lib/x86_64-linux-gnu

Build from source

This section shows how to install RTAB-Map ros-pkg on ROS Hydro/Indigo/Jade/Kinetic (Catkin build). RTAB-Map works only with the PCL 1.7, which is the default version installed with ROS Hydro/Indigo/Jade/Kinetic (Fuerte and Groovy are not supported).

  • The next instructions assume that you have set up your ROS workspace using this tutorial. I will use kinetic prefix for convenience, but it should work with Hydro, Indigo and Jade. The workspace path is ~/catkin_ws and your ~/.bashrc contains:
$ source /opt/ros/kinetic/setup.bash
$ source ~/catkin_ws/devel/setup.bash
  • Make sure you don't have the binaries installed too (if you tried them before):
$ sudo apt-get remove ros-kinetic-rtabmap
  1. Optional dependencies
  • If you want SURF/SIFT on Indigo/Jade/Kinetic (Hydro has already SIFT/SURF), 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. I recommend to use latest 2.4 version (2.4.11) and build it from source following these instructions. RTAB-Map can build with OpenCV3+xfeatures2d module, but rtabmap_ros package will have libraries conflict as cv-bridge is depending on OpenCV2. If you want OpenCV3, you should build ros vision-opencv package yourself (and all ros packages depending on it) so it can link on OpenCV3.

  • ROS (Qt, PCL, dc1394, OpenNI, OpenNI2, Freenect, g2o, Costmap2d, Rviz, Octomap, CvBridge). Note that I've found that latest g2o version built from source is faster (install libsuitesparse-dev before building g2o) and would be required to avoid some crashes.

$ sudo apt-get install libqt4-dev libpcl-1.7-all-dev libdc1394-dev ros-kinetic-openni-launch ros-kinetic-openni2-launch ros-kinetic-freenect-launch ros-kinetic-costmap-2d ros-kinetic-octomap-ros ros-kinetic-g2o ros-kinetic-rviz ros-kinetic-cv-bridge


  * [GTSAM](https://collab.cc.gatech.edu/borg/gtsam): Follow installation instructions from [here](https://collab.cc.gatech.edu/borg/gtsam/#quickstart). RTAB-Map needs latest version from source (`git clone https://bitbucket.org/gtborg/gtsam.git`), it will not build with 3.2.1.
  
  * [cvsba](http://www.uco.es/investiga/grupos/ava/node/39): Follow installation instructions from [here](http://www.uco.es/investiga/grupos/ava/node/39). Their installation is not standard CMake, you need these extra steps so RTAB-Map can find it:
    ```bash
$ mkdir /usr/local/lib/cmake/cvsba 
$ mv /usr/local/lib/cmake/Findcvsba.cmake /usr/local/lib/cmake/cvsba/cvsbaConfig.cmake
  1. Install RTAB-Map standalone libraries. Add -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel to cmake command below if you want to install in your Catkin's devel folder without sudo. Do not clone in your Catkin workspace.
$ cd ~
$ git clone https://github.com/introlab/rtabmap.git rtabmap
$ cd rtabmap/build
$ cmake ..  [<---double dots included]
$ make -j4
$ sudo make install
  1. Install RTAB-Map ros-pkg in your src folder of your Catkin workspace.
$ cd ~/catkin_ws
$ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
$ catkin_make

Update to new version

$ cd rtabmap
$ git pull origin master
$ cd build
$ make
$ make install
// Do "sudo make install" if you installed rtabmap in "/usr/local"

$ roscd rtabmap_ros
$ git pull origin master
$ cd ~/catkin_ws
$ catkin_make

iiith_rtabmap's People

Contributors

matlabbe avatar exception4u avatar lesterlo avatar

Watchers

曹明伟,Mingwei Cao avatar

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. 📊📈🎉

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google ❤️ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.