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Updated README
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matlabbe committed Aug 13, 2023
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Expand Up @@ -29,27 +29,19 @@ For the RTAB-Map libraries and standalone application, visit [RTAB-Map's home pa
<table>
<tbody>
<tr>
<td rowspan="2">ROS 1</td>
<td>Melodic</td>
<td><a href="http://build.ros.org/job/Mbin_ubv8_uBv8__rtabmap_ros__ubuntu_bionic_arm64__binary/"><img src="http://build.ros.org/buildStatus/icon?job=Mbin_ubv8_uBv8__rtabmap_ros__ubuntu_bionic_arm64__binary" alt="Build Status"/></td>
</tr>
<tr>
<td rowspan="1">ROS 1</td>
<td>Noetic</td>
<td><a href="http://build.ros.org/job/Nbin_ufv8_uFv8__rtabmap_ros__ubuntu_focal_arm64__binary/"><img src="http://build.ros.org/buildStatus/icon?job=Nbin_ufv8_uFv8__rtabmap_ros__ubuntu_focal_arm64__binary" alt="Build Status"/></td>
</tr>
<tr>
<td rowspan="4">ROS 2</td>
<td>Foxy</td>
<td><a href="http://build.ros2.org/job/Fbin_uF64__rtabmap_ros__ubuntu_focal_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Fbin_uF64__rtabmap_ros__ubuntu_focal_amd64__binary" alt="Build Status"/></td>
</tr>
<tr>
<td>Galactic</td>
<td><a href="http://build.ros2.org/job/Gbin_uF64__rtabmap_ros__ubuntu_focal_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Gbin_uF64__rtabmap_ros__ubuntu_focal_amd64__binary" alt="Build Status"/></td>
</tr>
<tr>
<td rowspan="3">ROS 2</td>
<td>Humble</td>
<td><a href="http://build.ros2.org/job/Hbin_uJ64__rtabmap_ros__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__rtabmap_ros__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
</tr>
<tr>
<td>Iron</td>
<td><a href="http://build.ros2.org/job/Ibin_uJ64__rtabmap_ros__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__rtabmap_ros__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
</tr>
<tr>
<td>Rolling</td>
<td><a href="http://build.ros2.org/job/Rbin_uJ64__rtabmap_ros__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__rtabmap_ros__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
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## Build from source
This section shows how to install RTAB-Map ros-pkg on **ROS Melodic/Noetic** (Catkin build).
This section shows how to install RTAB-Map ros-pkg on **ROS Noetic** (Catkin build).

* The next instructions assume that you have set up your ROS workspace using this [tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace). The workspace path is `~/catkin_ws` and your `~/.bashrc` contains:

Expand All @@ -98,21 +90,21 @@ This section shows how to install RTAB-Map ros-pkg on **ROS Melodic/Noetic** (Ca
```

0. Required dependencies
* The easiest way to get all them (Qt, PCL, VTK, OpenCV, ...) is to install/uninstall rtabmap binaries:
* The easiest way to get all them (Qt, PCL, VTK, OpenCV, g2o, gtsam ...) is to install/uninstall rtabmap binaries:
```bash
sudo apt install ros-$ROS_DISTRO-rtabmap*
sudo apt remove ros-$ROS_DISTRO-rtabmap*
```

1. Optional dependencies
* If you want SURF/SIFT on Melodic/Noetic, you have to build [OpenCV]([OpenCV](http://opencv.org/)) from source to have access to *xfeatures2d* and *nonfree* modules (note that SIFT is not in *nonfree* anymore since OpenCV 4.4.0). Install it in `/usr/local` (default) and rtabmap library should link with it instead of the one installed in ROS.
* On Melodic/Noetic, build from source with *xfeatures2d* module (and *nonfree* module if needed) the same OpenCV version already installed on the system. You will then avoid breaking `cv_bridge` with `rtabmap_ros`. If you want to install a more recent OpenCV version, I recommend to uninstall `libopencv*` libraries (with all ros packages depending on it) and rebuild all those ros packages in your catkin workspace (to make sure `cv_bridge` is linked on the OpenCV version you just compiled).
* If you want SURF/SIFT on Noetic, you have to build [OpenCV]([OpenCV](http://opencv.org/)) from source to have access to *xfeatures2d* and *nonfree* modules. Install it in `/usr/local` (default) and rtabmap library should link with it instead of the one installed in ROS.
* On Noetic, build from source with *xfeatures2d* module (and *nonfree* module if needed) the same OpenCV version already installed on the system. You will then avoid breaking `cv_bridge` with `rtabmap_ros`. If you want to install a more recent OpenCV version, I recommend to uninstall `libopencv*` libraries (with all ros packages depending on it) and rebuild all those ros packages in your catkin workspace (to make sure `cv_bridge` is linked on the OpenCV version you just compiled).

* [g2o](https://github.com/RainerKuemmerle/g2o): Should be already installed by `ros-$ROS_DISTRO-libg2o`.

* [GTSAM](https://gtsam.org/get_started/): Install via PPA to avoid building from source. If you install from source, make sure to build with `cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON`.
* [GTSAM](https://gtsam.org/get_started/): Should be already installed by `ros-$ROS_DISTRO-gtsam`.

* [libpointmatcher](https://github.com/ethz-asl/libpointmatcher): **Recommended** if you are going to use lidars. Follow their [instructions](https://github.com/ethz-asl/libpointmatcher#quick-start) to install. Should be alread installed by `ros-$ROS_DISTRO-libpointmatcher`.
* [libpointmatcher](https://github.com/ethz-asl/libpointmatcher): **Recommended** if you are going to use lidars. Should be alread installed by `ros-$ROS_DISTRO-libpointmatcher` (Official [install instructions](https://github.com/ethz-asl/libpointmatcher#quick-start)).

2. Install RTAB-Map standalone libraries. **Do not clone in your Catkin workspace**.
```bash
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