Installing Packages Required for SLAM

From Lofaro Lab Wiki
Revision as of 14:35, 27 April 2015 by Rtindel2 (Talk | contribs)

(diff) ← Older revision | Latest revision (diff) | Newer revision → (diff)
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:


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


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