Create a catkin workspace (if there is none yet). For example, from your home folder:
cd
mkdir -p catkin_ws/src
cd catkin_ws
catkin config --init --mkdirs --extend /opt/ros/noetic --merge-devel --cmake-args -DCMAKE_BUILD_TYPE=Release
The code has been tested on ROS Noetic. Depending on the ROS distribution you installed, you might have to use kinetic or melodic instead of noetic in the previous command.
Clone this repository into the src folder of your catkin workspace.
cd catkin_ws/src
git clone git@github.com:tub-rip/dvs_mcemvs.git
The catkin package dependencies are:
- catkin simple
- ROS messages for DVS (rpg_dvs_ros)
- Google Logging Library (glog)
- Gflags (formerly Google Commandline Flags)
- minkindr (for dealing with poses). minkindr depends on eigen_catkin and eigen_checks, which are therefore also required.
- vicon for reading poses in the form of vicon_msg
The above dependencies are specified in the dependencies.yaml file. They can be installed with the following commands from the src folder of your catkin workspace:
cd catkin_ws/src
sudo apt-get install python3-vcstool
vcs-import < dvs_mcemvs/dependencies.yaml
The previous command should clone the repositories into folders catkin_simple, rpg_dvs_ros, etc. inside the src/ folder of your catkin workspace, at the same level as this repository dvs_mcemvs. They should NOT be inside the dvs_mcemvs folder.
Additional ROS tools needed (specified in the package.xml file):
sudo apt-get install ros-noetic-image-geometry
sudo apt-get install ros-noetic-tf-conversions
Compile this package:
catkin build mapper_emvs_stereo
After building, at least the first time, remember to run:
source ~/catkin_ws/devel/setup.bash
Sometimes (in case of strange errors) it is useful to delete the build folder before compilation:
rm -rf build/mapper_emvs_stereo/
An alternative command to start from scratch (cleaning all catkin packages) is (to be used with caution): catkin clean