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INSTALL.md

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There are many prerequisites. Please follow instructions on the linked webpages on how to install them.

  • Clone this repository.
    • IMPORTANT: move the content of the src folder in the src folder of your catkin workspace
  • Update CMake to the latest version: follow this. Tested with CMake 3.16.5
  • OpenCV with contrib and non-free enabled. Tested with 3.4.3. Works with 4.* but results were not checked.
    • If you build with cuda you might need to then install gcc7 and run catkin build -DCMAKE_C_COMPILER=$(which gcc-7) -DCMAKE_CXX_COMPILER=$(which g++-7) with latest version of Ubuntu (adapt it to your cuda version).
  • Install ros-melodic-desktop-full following this
    • If you want to use ros-NOETIC remember to switch branch, NOTE it has not been fully tested -- it should work The main differences are the camera_best_heading package, some CMakeLists.txt and there is the necessity to install the correct rtabmap versions.

** YOU SHOULD BE ABLE TO MERGE ANY BRANCH WITH THE NOETIC ONE. IF NO/IN DOUBT PLEASE OPEN AN ISSUE **

  • Install ros prerequisites sh ros-req.sh. In noetic is not fully tested -- it should work
    • A simpler way might be to run sudo apt install ros-{version}-rtabmap ros-{version}-rtabmap-ros and install any other prerequisite while building the packages.
    sudo apt purge ros-{version}-rtabmap ros-{version}-rtabmap-ros
    IF you install rtabmap this way you need to UNINSTALL IT
  • [optional] (For the notebook visualization) Install python3, pip3 and virtualenv
    • create a virtualenv with python3.6
    • Install in the virtualenv with pip install -r requirements.txt the required packages
    • Run jupyter labextension install jupyterlab-plotly (if nodejs gives problems run curl -sL https://deb.nodesource.com/setup_12.x | sudo -E bash – && sudo apt-get install nodejs)
  • Install ACADO from sources and follow this README
  • Install GTSAM4.x either from sources or APT strongly suggested - stable release. NOTE If building from sources be sure that march_native is off, or, as an alternative, you can have g2o+PCL+GTSAM all built from sources with such option enabled. If problems arise during the compilation of RTABMap check this
  • Install libpointmatcher

  • RTABMap:

    • OPTION 1 (paper version) with OLDER rtabmap-rtabmap_ros (the one from the master branch)
    git clone https://github.com/introlab/rtabmap && cd rtabmap
git checkout 39f68c44c

    copy the edited rtabmap files into the cloned folder cp <your-active_v_slam>/rtabmap-edited/* <your-rtabmap>/corelib/src Use in catkin workspace the rtabmap_ros AND the camera_best_heading from the master branch

    • OPTION 2 use the latest version of RTABMap as of MAY 19 2022
    git clone https://github.com/eliabntt/rtabmap && cd rtabmap

    Use in catkin workspace the rtabmap_ros AND the camera_best_heading from the noetic branch

    *NOTE: if you find problems with this checkout rtabmap at the 5d200a0 commit and cp <your-active_v_slam>/rtabmap-edited/Rtabmap_5d200a0.cpp <your-rtabmap>/corelib/src/Rtabmap.cpp

    • build and install rtabmap. NOTE Be careful that the end of cmake .. must be "Build files have been written to ..." w/o ANY subsequent warnings. GTSAM, g2o, OpenCV, libpointmatcher, and octomape should be automatically recognized and enabled for the building.
    • Test the installation by running rtabmap command in a console. A preemptive sudo ldconfig might be necessary.
  • Gazebo:
    • Launch gazebo at least once so that folders are created.
    • Get the models
      • [Option 1] Download and follow instructions for models from here
      • [Option 2] download models from 3dgems with sh 3dgems.sh -- note it seems down -- and from AWS and place them in ~/.gazebo/models
  • Catkin make (both catkin build or catkin_make works) on the main project folder. With the newer rtabmap you might need catkin build -DRTABMAP_SYNC_USER_DATA=ON since we use the synchronization module.