rtabmap_ros 中文注释

Build from source

This section shows how to install RTAB-Map ros-pkg on ROS Hydro/Indigo/Jade/Kinetic/Lunar/Melodic/Noetic (Catkin build). RTAB-Map works only with the PCL >=1.7, which is the default version installed with ROS Hydro/Indigo/Jade/Kinetic/Lunar/Melodic/Noetic (Fuerte and Groovy are not supported).

• The next instructions assume that you have set up your ROS workspace using this tutorial. I will use noetic prefix for convenience, but it should work with Hydro, Indigo, Jade, Kinetic, Lunar and Melodic. The workspace path is ~/catkin_ws and your ~/.bashrc contains:

  $ source /opt/ros/noetic/setup.bash
  $ source ~/catkin_ws/devel/setup.bash

0. Required dependencies

   • The easiest way to get all them (Qt, PCL, VTK, OpenCV, ...) is to install/uninstall rtabmap binaries:

     $ sudo apt install ros-noetic-rtabmap ros-noetic-rtabmap-ros
     $ sudo apt remove ros-noetic-rtabmap ros-noetic-rtabmap-ros

1. Optional dependencies

   • If you want SURF/SIFT on Indigo/Jade/Melodic/Noetic (Hydro/Kinetic has already SIFT/SURF), you have to build OpenCV from source to have access to xfeatures2d and nonfree modules (note that SIFT is not in nonfree anymore since OpenCV 4.4.0). Install it in /usr/local (default) and rtabmap library should link with it instead of the one installed in ROS.

     • On Indigo, I recommend to use latest 2.4 version (2.4.11) and build it from source following these instructions. RTAB-Map can build with OpenCV3+xfeatures2d module, but rtabmap_ros package will have libraries conflict as cv_bridge is depending on OpenCV2. If you want OpenCV3+, you should build vision-opencv package yourself (and all ros packages depending on it) so it can link on OpenCV3+.
     • On Kinetic/Melodic/Noetic, build from source with xfeatures2d module (and nonfree module if needed) the same OpenCV version already installed on the system. You will then avoid breaking cv_bridge with rtabmap_ros. If you want to install a more recent OpenCV version, I recommend to uninstall libopencv* libraries (with all ros packages depending on it) and rebuild all those ros packages in your catkin workspace (to make sure cv_bridge is linked on the OpenCV version you just compiled).

   • g2o: Should be already installed by ros-noetic-libg2o.

   • GTSAM: Install via PPA to avoid building from source. If you install from source, make sure to build with cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON.

   • libpointmatcher: Recommended if you are going to use lidars. Follow their instructions to install.

2. Install RTAB-Map standalone libraries. Do not clone in your Catkin workspace.

   $ cd ~
   $ git clone https://github.com/introlab/rtabmap.git rtabmap
   $ cd rtabmap/build
   $ cmake ..  [<---double dots included]
   $ make -j6
   $ sudo make install

if you meet this problem: rtabmap: error while loading shared libraries: librtabmap_gui.so.0.20: cannot open shared object file: No such file or directory Run: sudo ldconfig

3. Install RTAB-Map ros-pkg in your src folder of your Catkin workspace.

   $ cd ~/catkin_ws
   $ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
   $ catkin_make -j4

   • Use catkin_make -j1 if compilation requires more RAM than you have (e.g., some files require up to ~2 GB to build depending on gcc version).
   • Options:
     • Add -DRTABMAP_SYNC_MULTI_RGBD=ON to catkin_make if you plan to use multiple cameras.
     • Add -DRTABMAP_SYNC_USER_DATA=ON to catkin_make if you plan to use user data synchronized topics.