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These instructions are for Jetpack 3 (Ubuntu 16.04 with ROS Kinetic). For Jetpack 4 (Ubuntu 18.04 with ROS Melodic), see this post.
To use rtabmap_ros on Jetson, you can follow the instructions here if you don't care if OpenCV is built for Tegra. However, if you want rtabmap to use OpenCV 4 Tegra, we must re-build vision_opencv stack from source too to avoid conflicts with vision_opencv stack binaries from ros (which are linked on a not optimized version of OpenCV). Here are the steps:
Install RTAB-Map standalone libraries. Add -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel to cmake command below if you want to install in your Catkin's devel folder without sudo. Do not clone in your Catkin workspace.
$ cd~
$ git clone https://github.com/introlab/rtabmap.git rtabmap
$ cd rtabmap/build
$ cmake .. [<---double dots included]
$ make
$ sudo make install
copied here for reference
These instructions are for Jetpack 3 (Ubuntu 16.04 with ROS Kinetic). For Jetpack 4 (Ubuntu 18.04 with ROS Melodic), see this post.
To use
rtabmap_ros
on Jetson, you can follow the instructions here if you don't care if OpenCV is built for Tegra. However, if you wantrtabmap
to use OpenCV 4 Tegra, we must re-build vision_opencv stack from source too to avoid conflicts with vision_opencv stack binaries from ros (which are linked on a not optimized version of OpenCV). Here are the steps:Install JetPack with OpenCV on the Jetson.
Do steps 1.2 and 1.3 from http://wiki.ros.org/kinetic/Installation/Ubuntu
Install non-opencv dependent ros packages:
sudo apt-get install ros-kinetic-ros-base ros-kinetic-image-transport ros-kinetic-tf ros-kinetic-tf-conversions ros-kinetic-eigen-conversions ros-kinetic-laser-geometry ros-kinetic-pcl-conversions ros-kinetic-pcl-ros ros-kinetic-move-base-msgs ros-kinetic-rviz ros-kinetic-octomap-ros ros-kinetic-move-base libhdf5-openmpi-dev libsuitesparse-dev
Do step 1.6 from http://wiki.ros.org/kinetic/Installation/Ubuntu
Create your catkin workspace
Optional: Install g2o and/or GTSAM dependencies as above (increase visual odometry and graph optimization accuracy).
To avoid libGL undefined errors:
To avoid libvtkproj4 errors:
Install RTAB-Map standalone libraries. Add
-DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel
tocmake
command below if you want to install in your Catkin's devel folder withoutsudo
. Do not clone in your Catkin workspace.Clone vision_opencv, image_transport_plugins and
rtabmap_ros
packages in your catkin_ws:The text was updated successfully, but these errors were encountered: