From 61055d1dcb6b3d374cd14699b44e2882349ac83d Mon Sep 17 00:00:00 2001 From: Stefan Kohlbrecher Date: Thu, 4 Aug 2016 16:52:30 +0200 Subject: [PATCH] Optional install instructions using wstool (#8) * Adds rosinstall file * Adds optional install instructions using wstool --- README.md | 21 ++++++++++++++++++++- cartographer_ros.rosinstall | 7 +++++++ 2 files changed, 27 insertions(+), 1 deletion(-) create mode 100644 cartographer_ros.rosinstall diff --git a/README.md b/README.md index 215b425..d66bf7e 100644 --- a/README.md +++ b/README.md @@ -4,7 +4,9 @@ See https://github.com/googlecartographer/cartographer ## Installation -On Ubuntu 14.04 (Trusty) with ROS Indigo installed: +Installation has been tested on Ubuntu 14.04 (Trusty) with ROS Indigo. There are multiple options for building cartographer_ros as part of a ROS workspace. Two common use cases are described below. + +These dependencies always have to be installed: # Install the required libraries that are available as debs sudo apt-get install \ @@ -21,6 +23,9 @@ On Ubuntu 14.04 (Trusty) with ROS Indigo installed: liblapack-dev \ libpcap-dev # For 3D SLAM with Velodynes + +### Standalone Workspace + # Set up your Catkin workspace mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src @@ -41,3 +46,17 @@ On Ubuntu 14.04 (Trusty) with ROS Indigo installed: cd ~/catkin_ws catkin_make_isolated source devel_isolated/setup.bash + +### Using wstool + +If cartographer_ros is to be used as part of a pre-existing workspace/existing project, using [wstool](http://wiki.ros.org/wstool) is recommended. + + # Enter workspace root (i.e. the folder that has "src" as a subfolder) + # Merge the cartographer_ros rosinstall file + wstool merge https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall + + # Update workspace + wstool update + + # Build workspace contents. It is recommended to use catkin tools: + catkin build diff --git a/cartographer_ros.rosinstall b/cartographer_ros.rosinstall new file mode 100644 index 0000000..605e17c --- /dev/null +++ b/cartographer_ros.rosinstall @@ -0,0 +1,7 @@ +- git: {local-name: src/cartographer, uri: 'https://github.com/googlecartographer/cartographer.git'} +- git: {local-name: src/cartographer_ros, uri: 'https://github.com/googlecartographer/cartographer_ros.git'} +- git: {local-name: src/ceres_catkin, uri: 'https://github.com/ethz-asl/ceres_catkin.git'} +- git: {local-name: src/suitesparse, uri: 'https://github.com/ethz-asl/suitesparse.git'} +- git: {local-name: src/glog_catkin, uri: 'https://github.com/ethz-asl/glog_catkin.git'} +- git: {local-name: src/gflags_catkin, uri: 'https://github.com/ethz-asl/gflags_catkin.git'} +- git: {local-name: src/catkin_simple, uri: 'https://github.com/ethz-asl/catkin_simple.git'}