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INSTALL.md

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Prerequisites

This assumes you are using:

  • Ubuntu 22.04 operating system.
  • conda (or the equivalent mamba) for virtual environment management.
  • ROS2 installed. MaRMOT was developed with ROS2 (Humble will work), installed from binary using the instructions here.

Note: Make sure that you deactivate any virtual environments before installing ROS2!

Setup

Create workspace and clone the repo

cd ~
mkdir -p tracking_ws/src && cd tracking_ws/src
git clone https://github.com/roboav8r/tracking_msgs.git -b ros2
git clone --depth 1 https://github.com/roboav8r/marmot.git -b main
cd ~/tracking_ws
rosdep install -i --from-path src --rosdistro humble -y 
## Set up virtual environments
Note: either `mamba` or `conda` will work for these commands.

cd ~/tracking_ws/src/marmot mamba env create -f marmot_env.yml mamba env create -f marmot_eval.yml # OPTIONAL - if using nuScenes evaluation


## Building the package

mamba activate marmot cd ~/tracking_ws source /opt/ros/${YOUR_ROS2_DISTRO}/setup.bash colcon build --packages-select tracking_msgs source install/setup.bash colcon build source install/setup.bash