minzlee / gtsam

gtsam_ros

ROS wrapper for GTSAM/iSAM2

Notes

this is the version after integrated with robotx planning module

Getting Started

• Install ROS melodic.
• Install Eigen3.

$ git clone https://gitlab.com/libeigen/eigen.git
$ cd eigen
$ mkdir build
$ cmake ..
$ sudo make install

• Install boost libraries, >=1.58 (Ubuntu: sudo apt-get install libboost-all-dev).
• Install CMake, >=3.0.2 (Ubuntu: sudo apt-get install cmake).
• Install TBB, >=4.4 (Ubuntu: sudo apt-get install libtbb-dev).
• Install GTSAM. Newest version is not compatible. Use version 4.0.3 instead.

$ git clone https://github.com/borglab/gtsam.git
$ cd gtsam
$ mkdir build
$ cmake ..
$ sudo make install

• Install landmark_detection ROS package.
• Clone this repo into ROS workspace and make:

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ilnehc/gtsam_ros.git
$ cd ~/catkin_ws/
$ catkin_make

gtsam_ros