Update README.md

Author: matlabbe

README.md

@@ -76,7 +76,7 @@ This section shows how to install RTAB-Map ros-pkg on **ROS Hydro/Indigo/Jade/Ki
 
     * [libpointmatcher](https://github.com/ethz-asl/libpointmatcher): **Recommended** if you are going to use lidars. Follow their [instructions](https://github.com/ethz-asl/libpointmatcher#quick-start) to install.
 
-2. Install RTAB-Map standalone libraries. Add `-DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel` to `cmake` command below if you want to install in your Catkin's devel folder without `sudo`. **Do not clone in your Catkin workspace**.
+2. Install RTAB-Map standalone libraries. **Do not clone in your Catkin workspace**.
     ```bash
     $ cd ~
     $ git clone https://github.com/introlab/rtabmap.git rtabmap
@@ -99,49 +99,9 @@ This section shows how to install RTAB-Map ros-pkg on **ROS Hydro/Indigo/Jade/Ki
         * Add `-DRTABMAP_SYNC_USER_DATA=ON` to `catkin_make` if you plan to use user data synchronized topics.
 
 ## Build from source for Nvidia Jetson
-These instructions are for Jetpack 3 (Ubuntu 16.04 with ROS Kinetic). For **Jetpack 4** (Ubuntu 18.04 with ROS Melodic), see this [post](https://github.com/introlab/rtabmap/issues/427#issuecomment-608052821).
-
-To use `rtabmap_ros` on Jetson, you can follow the instructions above if you don't care if OpenCV is built for Tegra. However, if you want `rtabmap` to use OpenCV 4 Tegra, we must re-build [vision_opencv](https://github.com/ros-perception/vision_opencv) stack from source too to avoid conflicts with [vision_opencv](https://github.com/ros-perception/vision_opencv) stack binaries from ros (which are linked on a not optimized version of OpenCV). Here are the steps:
-1. Install [JetPack](https://developer.nvidia.com/embedded/jetpack) with OpenCV on the Jetson.
-2. Do steps 1.2 and 1.3 from http://wiki.ros.org/kinetic/Installation/Ubuntu
-3. Install non-opencv dependent ros packages:
-    * Jetpack 3: `sudo apt-get install ros-kinetic-ros-base ros-kinetic-image-transport ros-kinetic-tf ros-kinetic-tf-conversions ros-kinetic-eigen-conversions ros-kinetic-laser-geometry ros-kinetic-pcl-conversions ros-kinetic-pcl-ros ros-kinetic-move-base-msgs ros-kinetic-rviz ros-kinetic-octomap-ros ros-kinetic-move-base libhdf5-openmpi-dev libsuitesparse-dev`
-4. Do step 1.6 from http://wiki.ros.org/kinetic/Installation/Ubuntu
-5. [Create your catkin workspace](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment#Create_a_ROS_Workspace)
-6. *Optional:* Install g2o and/or GTSAM dependencies as above (increase visual odometry and graph optimization accuracy).
-7. To avoid [libGL undefined errors](https://devtalk.nvidia.com/default/topic/1007290/jetson-tx2/building-opencv-with-opengl-support-/post/5141945/#5141945):
-     ```
-     $ cd /usr/lib/aarch64-linux-gnu/
-     # Jetpack 3:
-     $ sudo ln -sf tegra/libGL.so libGL.so
-     # Jetpack 4:
-     sudo ln -sf libGL.so.1.0.0 libGL.so
-     ```
-     
-8. To avoid [libvtkproj4 errors](https://github.com/PointCloudLibrary/pcl/issues/1594#issuecomment-283873617):
-    ```
-    $ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/libvtkproj4.so
-    $ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/aarch64-linux-gnu/libvtkproj4-6.2.so.6.2.0
-    ```
-9. Install RTAB-Map standalone libraries. Add `-DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel` to `cmake` command below if you want to install in your Catkin's devel folder without `sudo`. **Do not clone in your Catkin workspace**.
- 
-    ```bash
-    $ cd ~
-    $ git clone https://github.com/introlab/rtabmap.git rtabmap
-    $ cd rtabmap/build
-    $ cmake ..  [<---double dots included]
-    $ make
-    $ sudo make install
-    ```
-10. Clone [vision_opencv](https://github.com/ros-perception/vision_opencv), [image_transport_plugins](https://github.com/ros-perception/image_transport_plugins) and `rtabmap_ros` packages in your catkin_ws:
+For **Jetpack 4** (Ubuntu 18.04 with ROS Melodic), see this [post](https://github.com/introlab/rtabmap/issues/427#issuecomment-608052821).
+For **Jetpack 3** (Ubuntu 16.04 with ROS Kinetic), see this [post](https://github.com/introlab/rtabmap_ros/issues/655).
 
-   ```bash
-    $ cd ~/catkin_ws
-    $ git clone https://github.com/ros-perception/vision_opencv src/vision_opencv
-    $ git clone https://github.com/ros-perception/image_transport_plugins.git src/image_transport_plugins
-    $ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
-    $ catkin_make -j2
-   ```
 
 ### Update to new version