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Fix outdated build instructions (closes #1531).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
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docs/source/compilation.rst
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@ -42,14 +42,14 @@ On Ubuntu Focal with ROS Noetic use these commands to install the above tools:
.. code-block:: bash .. code-block:: bash
sudo apt-get update 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: On older distributions:
.. code-block:: bash .. code-block:: bash
sudo apt-get update 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'. 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 merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src 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. 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 .. code-block:: bash
src/cartographer/scripts/install_proto3.sh
sudo rosdep init sudo rosdep init
rosdep update rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
This builds Cartographer from the latest HEAD of the master branch. # Only on Ubuntu 16 / ROS Kinetic: src/cartographer/scripts/install_proto3.sh
If you want a specific version, you need to change the version in the cartographer_ros.rosinstall.
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 .. code-block:: bash
@ -85,3 +90,8 @@ Build and install.
.. code-block:: bash .. code-block:: bash
catkin_make_isolated --install --use-ninja 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/