Splits installation instructions into ROS/non-ROS. (#1)

Adds missing ROS dependency to package.xml.
master
Damon Kohler 2016-08-03 16:27:48 +02:00 committed by GitHub
parent 269c28cb0c
commit a3fe3181e0
2 changed files with 10 additions and 14 deletions

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@ -5,10 +5,15 @@ mapping
([SLAM](http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping)) ([SLAM](http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping))
across multiple platforms and sensor configurations. across multiple platforms and sensor configurations.
## Installation instructions ## Installation with ROS
For Ubuntu 14.04 (Trusty): See https://github.com/googlecartographer/cartographer_ros
## Installation without ROS
On Ubuntu 14.04 (Trusty):
# Install the required libraries that are available as debs
sudo apt-get install \ sudo apt-get install \
g++ \ g++ \
google-mock \ google-mock \
@ -23,8 +28,7 @@ For Ubuntu 14.04 (Trusty):
protobuf-compiler \ protobuf-compiler \
python-sphinx python-sphinx
Download, build and install Ceres: # Build and install Ceres
git clone https://ceres-solver.googlesource.com/ceres-solver git clone https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver cd ceres-solver
mkdir build && cd build mkdir build && cd build
@ -32,17 +36,8 @@ Download, build and install Ceres:
make make
sudo make install sudo make install
Build Cartographer: # Build Cartographer
cd cartographer cd cartographer
mkdir build && cd build mkdir build && cd build
cmake .. -G Ninja cmake .. -G Ninja
ninja ninja
## Running with Velodyne data
apt-get install libpcap-dev
cd <somwhere>
git clone git@github.com:ros-drivers/velodyne.git
cd <catkin_ws>/src
ln -s <somewhere>/velodyne/velodyne* .

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@ -23,6 +23,7 @@
<run_depend>catkin</run_depend> <run_depend>catkin</run_depend>
<buildtool_depend>cmake</buildtool_depend> <buildtool_depend>cmake</buildtool_depend>
<build_depend>ceres_catkin</build_depend>
<export> <export>
<build_type>cmake</build_type> <build_type>cmake</build_type>