Installing Packages Required for SLAM

From Lofaro Lab Wiki
Jump to: navigation, search

Github Folder Explanation

This is a catkin repository for ROS. This project was designed for ROS Hydro. If another ROS distro is used, MILES may not work properly

There are 5 different folder for MILES. Below are their names and what they contain:


Contains the ros packages that allow the computer to drive the pioneer3dx.


Contains different packages that allow the computer to interface with different sensors to map the environment and create a 2D map and also collect WIFI Data. If you are not using rgbdslam, you may want to delete the package as it is very large.


This is the package that go onto the integrated Computer. For our design we used a Raspberry Pi 2. This includes the Localizer(Reader) and the seriallistener that will listen to serial ports.


This contains packages that are used in more than one area. For example, the wifi_scanner package is used in both Mapping and the MILES integrated system.


This contains packages that are used to interface with the MILES device and the pioneer3dx to navigate around.

MILES packages on ROS using a catkin workspace:

1.) We first need to make a catkin workspace. Open a terminal and type:

   mkdir -p ~/catkin_ws/src
   cd ~/catkin_ws/src

2.) Now you will need to clone the directory to get the required packages for SLAM:

   cd ~/catkin_ws/src
   git clone

3.) You may need to source your catkin workspace:

   source ~/catkin_ws/devel/setup.bash

4.) After cloning the repository you will need to get some dependencies installed:

   rosdep install rgbdslam
   rosdep install gaussian_process
   rosdep install openni2_camera
   rosdep install wifi_scanner
   rosdep install rosaria
   rosdep install octomap_server
   rosdep install metareader
   rosdep install pioneer_2dnav
   sudo apt-get install ros-hydro-hokuyo_node
   sudo apt-get install ros-hydro-octovis
   sudo apt-get install libiw-dev
   sudo apt-get install ros-hydro-cmake-modules

5.) Now that we have the dependencies we can build the catkin directory:

   cd ~/catkin_ws

--Rtindel2 (talk) 11:33, 28 October 2014 (EDT)