Difference between revisions of "Installing Packages Required for SLAM"
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== Github Folder Explanation== | == Github Folder Explanation== | ||
Latest revision as of 14:35, 27 April 2015
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:
Control:
Contains the ros packages that allow the computer to drive the pioneer3dx.
Mapping:
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.
MILES:
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.
MISC:
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.
Navigation:
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
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/LofaroLabs/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_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
catkin_make