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INSTALLING_ESIM.md

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Installing ESIM on Ubuntu 24.04 Using DistroBox

This guide explains how to set up the Event-based Simulator (ESIM) on Ubuntu 24.04 using a DistroBox container running Ubuntu 16.04.

Install distrobox

First, install distrobox and podman:

sudo apt -y install distrobox podman

Set Up Ubuntu 16.04 in DistroBox

  1. Create a DistroBox container with Ubuntu 16.04:

    distrobox create --name ubuntu-16-04 -i ubuntu:16.04

  2. Enter the container:

    distrobox enter ubuntu-16-04

Install ROS Kinetic

For a detailed explanation of all the steps, visit https://wiki.ros.org/kinetic/Installation/Ubuntu

Follow these steps to install ROS Kinetic inside the container:

  1. Add the ROS repository:

    sudo apt -y install lsb-release curl
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

  2. Update and install ROS Kinetic:

    sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full

  3. Set up the ROS environment:

    echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

  4. Install ROS tools and dependencies:

    sudo apt -y install \
    python-rosdep python-rosinstall \
    python-rosinstall-generator \
    python-wstool build-essential python-rosdep
sudo rosdep init
rosdep update

  5. Install catkin tools:

    sudo apt-get install ros-kinetic-catkin python-catkin-tools

Install ESIM

  1. Create a Catkin Workspace for the simulator:

    mkdir -p ~/sim_ws/src && cd ~/sim_ws
catkin init
catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release

  2. Install vcstool for managing dependencies:

    sudo apt-get install python-vcstool

  3. Clone the rpg_esim repository:

    cd src/
git clone https://github.com/uzh-rpg/rpg_esim.git

  4. Convert SSH-based URLs in the dependencies.yaml file to HTTPS:

    sed -E 's#git@([^:]+):([^/]+)/([^\.]+)\.git#https://\1/\2/\3.git#g' rpg_esim/dependencies.yaml > rpg_esim/http_dependencies.yaml

  5. Import dependencies using vcstool:

    vcs-import < rpg_esim/http_dependencies.yaml

  6. Install the following required packages

    sudo apt-get install ros-kinetic-pcl-ros
sudo apt-get install libproj-dev

sudo apt-get install libglfw3 libglfw3-dev

sudo apt-get install libglm-dev

sudo apt-get install ros-kinetic-hector-trajectory-server

  7. Disable unused packages to streamline the build process:

    cd ze_oss
touch imp_3rdparty_cuda_toolkit/CATKIN_IGNORE \
    imp_app_pangolin_example/CATKIN_IGNORE \
    imp_benchmark_aligned_allocator/CATKIN_IGNORE \
    imp_bridge_pangolin/CATKIN_IGNORE \
    imp_cu_core/CATKIN_IGNORE \
    imp_cu_correspondence/CATKIN_IGNORE \
    imp_cu_imgproc/CATKIN_IGNORE \
    imp_ros_rof_denoising/CATKIN_IGNORE \
    imp_tools_cmd/CATKIN_IGNORE \
    ze_data_provider/CATKIN_IGNORE \
    ze_geometry/CATKIN_IGNORE \
    ze_imu/CATKIN_IGNORE \
    ze_trajectory_analysis/CATKIN_IGNORE

  8. Build the esim_ros node:

    catkin build esim_ros

  9. Create a script to initialize the ESIM workspace:

    echo "source ~/sim_ws/devel/setup.bash" >> ~/setup_event_sim.sh
chmod +x ~/setup_event_sim.sh

Important

From now on, every time you start a new terminal, run distrobox enter ubuntu-16-04 and then source ~/setup_event_sim.sh to initialize the simulator workspace.

Next Steps

Congratulations! The simulator is now set up. For examples and usage instructions, refer to the following pages: