From 70612a4d40f684276e3185c3499fc56faf64201c Mon Sep 17 00:00:00 2001 From: Michael Grupp Date: Tue, 27 Oct 2020 09:28:18 +0100 Subject: [PATCH] Fix outdated build instructions (closes #1531). (#1537) Signed-off-by: Michael Grupp --- docs/source/compilation.rst | 24 +++++++++++++++++------- 1 file changed, 17 insertions(+), 7 deletions(-) diff --git a/docs/source/compilation.rst b/docs/source/compilation.rst index 279ece8..ace433f 100644 --- a/docs/source/compilation.rst +++ b/docs/source/compilation.rst @@ -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/