44 lines
1.4 KiB
Markdown
44 lines
1.4 KiB
Markdown
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# Cartographer Project Overview
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See https://github.com/googlecartographer/cartographer
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## Installation
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On Ubuntu 14.04 (Trusty) with ROS Indigo installed:
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# Install the required libraries that are available as debs
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sudo apt-get install \
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ros-indigo-tf2-eigen \
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g++ \
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google-mock \
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libboost-all-dev \
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liblua5.2-dev \
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libprotobuf-dev \
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libwebp-dev \
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protobuf-compiler \
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python-sphinx \
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libblas-dev \
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liblapack-dev \
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libpcap-dev # For 3D SLAM with Velodynes
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# Set up your Catkin workspace
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mkdir -p ~/catkin_ws/src
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cd ~/catkin_ws/src
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source /opt/ros/indigo/setup.bash
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catkin_init_workspace
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# Clone the necessary repos into your Catkin workspace
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git clone https://github.com/googlecartographer/cartographer.git
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git clone https://github.com/googlecartographer/cartographer_ros.git
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git clone https://github.com/ethz-asl/ceres_catkin.git
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git clone https://github.com/ethz-asl/suitesparse.git
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git clone https://github.com/ethz-asl/glog_catkin.git
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git clone https://github.com/ethz-asl/gflags_catkin.git
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git clone https://github.com/ethz-asl/catkin_simple.git
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git clone https://github.com/ros-drivers/velodyne.git # For 3D SLAM with Velodynes
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# Build everything in your Catkin workspace
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cd ~/catkin_ws
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catkin_make_isolated
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source devel_isolated/setup.bash
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