installation.md

Dependencies

Install ROS Noetic (Ubuntu 20.04)

Create a catkin workspace

Create a catkin workspace (if there is none yet). For example, from your home folder:

cd
mkdir -p catkin_ws/src
cd catkin_ws
catkin config --init --mkdirs --extend /opt/ros/noetic --merge-devel --cmake-args -DCMAKE_BUILD_TYPE=Release

The code has been tested on ROS Noetic. Depending on the ROS distribution you installed, you might have to use kinetic or melodic instead of noetic in the previous command.

Add packages to the catkin workspace

Clone this repository into the src folder of your catkin workspace.

cd catkin_ws/src
git clone git@github.com:tub-rip/ES-PTAM.git

Download catkin dependencies specified in dependencies.yaml:

cd catkin_ws/src
sudo apt-get install python3-vcstool
vcs-import < ES-PTAM/dependencies.yaml

Install dependencies for using live (DAVIS) cameras

sudo add-apt-repository ppa:inivation-ppa/inivation
sudo apt-get update
sudo apt-get install libcaer-dev

Install python-2.7 required for vikit_py.

sudo apt-get install python2.7

Additional ROS tools needed (if not already installed):

sudo apt-get install ros-noetic-image-geometry
sudo apt-get install ros-noetic-tf-conversions
sudo apt-get install ros-noetic-camera-info-manager

Compiling

Compile the tracking and mapping package:

catkin build dvs_tracking mapper_emvs_stereo

After building, at least the first time, remember to run:

source ~/catkin_ws/devel/setup.bash