98 lines
3.0 KiB
ReStructuredText
98 lines
3.0 KiB
ReStructuredText
.. Copyright 2018 The Cartographer Authors
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.. Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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.. http://www.apache.org/licenses/LICENSE-2.0
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.. Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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==========================
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Compiling Cartographer ROS
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==========================
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System Requirements
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===================
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The Cartographer ROS requirements are the same as `the ones from Cartographer`_.
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The following `ROS distributions`_ are currently supported:
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* Kinetic
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* Melodic
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* Noetic
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.. _the ones from Cartographer: https://google-cartographer.readthedocs.io/en/latest/#system-requirements
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.. _ROS distributions: http://wiki.ros.org/Distributions
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Building & Installation
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=======================
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In order to build Cartographer ROS, we recommend using `wstool <http://wiki.ros.org/wstool>`_ and `rosdep
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<http://wiki.ros.org/rosdep>`_. For faster builds, we also recommend using
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`Ninja <https://ninja-build.org>`_.
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On Ubuntu Focal with ROS Noetic use these commands to install the above tools:
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.. code-block:: bash
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sudo apt-get update
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sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
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On older distributions:
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.. code-block:: bash
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sudo apt-get update
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sudo apt-get install -y python-wstool python-rosdep ninja-build stow
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After the tools are installed, create a new cartographer_ros workspace in 'catkin_ws'.
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.. code-block:: bash
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mkdir catkin_ws
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cd catkin_ws
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wstool init src
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wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
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wstool update -t src
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Now you need to install cartographer_ros' dependencies.
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First, we use ``rosdep`` to install the required packages.
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The command 'sudo rosdep init' will print an error if you have already executed it since installing ROS. This error can be ignored.
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.. code-block:: bash
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sudo rosdep init
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rosdep update
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rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
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# Only on Ubuntu 16 / ROS Kinetic: src/cartographer/scripts/install_proto3.sh
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Cartographer uses the `abseil-cpp`_ library that needs to be manually installed using this script:
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.. code-block:: bash
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src/cartographer/scripts/install_abseil.sh
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Due to conflicting versions you might need to uninstall the ROS abseil-cpp using
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.. code-block:: bash
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sudo apt-get remove ros-${ROS_DISTRO}-abseil-cpp
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Build and install.
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.. code-block:: bash
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catkin_make_isolated --install --use-ninja
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This builds Cartographer from the latest HEAD of the master branch.
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If you want a specific version, you need to change the version in the cartographer_ros.rosinstall.
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.. _abseil-cpp: https://abseil.io/
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