12345qiupeng
/
cartographer_ros
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fix outdated build instructions (closes #1531). (#1537) 

Signed-off-by: Michael Grupp <grupp@magazino.eu>
master
Michael Grupp 2020-10-27 09:28:18 +01:00 committed by GitHub
parent c705fdcc8f
commit 70612a4d40
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 17 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
docs/source/compilation.rst
View File

@ -42,14 +42,14 @@ On Ubuntu Focal with ROS Noetic use these commands to install the above tools:
.. code-block:: bash
sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
On older distributions:
.. code-block:: bash
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
sudo apt-get install -y python-wstool python-rosdep ninja-build stow
After the tools are installed, create a new cartographer_ros workspace in 'catkin_ws'.
@ -61,20 +61,25 @@ After the tools are installed, create a new cartographer_ros workspace in 'catki
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
Install cartographer_ros' dependencies (proto3 and deb packages).
Now you need to install cartographer_ros' dependencies.
First, we use ``rosdep`` to install the required packages.
The command 'sudo rosdep init' will print an error if you have already executed it since installing ROS. This error can be ignored.
.. code-block:: bash
src/cartographer/scripts/install_proto3.sh
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
This builds Cartographer from the latest HEAD of the master branch.
If you want a specific version, you need to change the version in the cartographer_ros.rosinstall.
# Only on Ubuntu 16 / ROS Kinetic: src/cartographer/scripts/install_proto3.sh
Additionally, uninstall the ros abseil-cpp using
Cartographer uses the `abseil-cpp`_ library that needs to be manually installed using this script:
.. code-block:: bash
src/cartographer/scripts/install_abseil.sh
Due to conflicting versions you might need to uninstall the ROS abseil-cpp using
.. code-block:: bash
@ -85,3 +90,8 @@ Build and install.
.. code-block:: bash
catkin_make_isolated --install --use-ninja
This builds Cartographer from the latest HEAD of the master branch.
If you want a specific version, you need to change the version in the cartographer_ros.rosinstall.
.. _abseil-cpp: https://abseil.io/