Difference between revisions of "Installing Packages Required for SLAM"
(→Below is a quick tutorial on installing these packages on ROS using a catkin workspace:) |
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rosdep install rosaria | rosdep install rosaria | ||
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+ | rosdep install octomap_server | ||
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+ | sudo apt-get install ros-hydro-octovis | ||
sudo apt-get install libiw-dev | sudo apt-get install libiw-dev |
Revision as of 11:42, 3 February 2015
We are currently working on getting access to the LofaroLabs Github to be able to push our catkin workspace. This will make writing the tutorial very easy.
The Packages that we are using for RGBDSLAM are:
rgbdslam: Comprises of the program that will connect to the openni2_camera messages and use them to create a 3d map of what is seen as the camera moves. Parts of the Cmake file had to be edited to make it build properly. These edits will be in our Github repository.
octomap_server: Dependency of rgbdslam. Used to save out the 3d map.
octomap_ros: Dependency of rgbdslam package.
octomap_msgs: Dependency of rgbdslam package.
opennni2_camera: Has the drivers to connect to various RGBD sensors including our own. You will need to use openni2 not openni.
openni2_launch: Launches openni2 nodes and starts sending out image, depth, and pointcloud data as ros messages.
libg2o: Dependency of rgbdslam package.
arm_navigation: Dependency of rgbdslam package.
Below is a quick tutorial on installing these 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
catkin_init_workspace
2.) Now you will need to clone the directory to get the required packages for SLAM:
cd ~/catkin_ws/src
git clone https://github.com/tim-tindell/MILES.git
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_tools
rosdep install rosaria
rosdep install octomap_server
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
catkin_make
roscd wifi_tools rosmake