From 3e179972dad34831a41f87a22a5d2bde9be5ac5e Mon Sep 17 00:00:00 2001
From: Damon Kohler <damonkohler@gmail.com>
Date: Wed, 3 Aug 2016 16:31:24 +0200
Subject: [PATCH] Changes build instructions to use Catkin. (#2)

Uses eth-asl repos for Ceres.
Adds missing package dependency.
---
 README.md                    | 43 ++++++++++++++++++++++++++++++++++++
 cartographer_ros/package.xml |  1 +
 2 files changed, 44 insertions(+)
 create mode 100644 README.md

diff --git a/README.md b/README.md
new file mode 100644
index 0000000..215b425
--- /dev/null
+++ b/README.md
@@ -0,0 +1,43 @@
+# Cartographer Project Overview
+
+See https://github.com/googlecartographer/cartographer
+
+## Installation
+
+On Ubuntu 14.04 (Trusty) with ROS Indigo installed:
+
+    # Install the required libraries that are available as debs
+    sudo apt-get install \
+      ros-indigo-tf2-eigen \
+      g++ \
+      google-mock \
+      libboost-all-dev \
+      liblua5.2-dev \
+      libprotobuf-dev \
+      libwebp-dev \
+      protobuf-compiler \
+      python-sphinx \
+      libblas-dev \
+      liblapack-dev \
+      libpcap-dev  # For 3D SLAM with Velodynes
+
+    # Set up your Catkin workspace
+    mkdir -p ~/catkin_ws/src
+    cd ~/catkin_ws/src
+    source /opt/ros/indigo/setup.bash
+    catkin_init_workspace
+
+    # Clone the necessary repos into your Catkin workspace
+    git clone https://github.com/googlecartographer/cartographer.git
+    git clone https://github.com/googlecartographer/cartographer_ros.git
+    git clone https://github.com/ethz-asl/ceres_catkin.git
+    git clone https://github.com/ethz-asl/suitesparse.git
+    git clone https://github.com/ethz-asl/glog_catkin.git
+    git clone https://github.com/ethz-asl/gflags_catkin.git
+    git clone https://github.com/ethz-asl/catkin_simple.git
+    git clone https://github.com/ros-drivers/velodyne.git  # For 3D SLAM with Velodynes
+
+    # Build everything in your Catkin workspace
+    cd ~/catkin_ws
+    catkin_make_isolated
+    source devel_isolated/setup.bash
diff --git a/cartographer_ros/package.xml b/cartographer_ros/package.xml
index b7fce9c..a935e7a 100644
--- a/cartographer_ros/package.xml
+++ b/cartographer_ros/package.xml
@@ -24,6 +24,7 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>cartographer</build_depend>
   <build_depend>eigen_conversions</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>cartographer_ros_msgs</build_depend>