Installing Packages Required for SLAM
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.
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
git clone https://github.com/tim-tindell/MILES.git
3.) You may need to source your catkin workspace:
source ~/catkin_ws/devel/setup.bah
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
5.) Now that we have the dependencies we can build the catkin directory:
cd ~/catkin_ws
catkin_make
