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Comment: initial
← Revision 15 as of 2012-06-25 16:23:54 → ⇥
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Editor: croussil
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  1. gcc
  1. gcc-c++
  1. make
  1. git
  1. cmake 		  1. '''gcc-c++'''
  1. '''make'''
  1. '''cmake '''
  1. '''git'''
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When you install these libraries with your system package manager, you have to also install the development packages. When you install these libraries with your system package manager, '''you have to also install the development packages''' (in general named package-devel or package-dev).
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  1. boost >= 1.40
  1. boost-sandbox/numeric-bindings: {{{
svn co http://svn.boost.org/svn/boost/sandbox/numeric_bindings-v1 boost-sandbox/}}}
  1. lapack
  1. opencv >= 2.1
  1. swig
  1. qt4		   1. '''boost''' >= 1.40
  1. '''boost-sandbox/numeric-bindings''': {{{
svn co http://svn.boost.org/svn/boost/sandbox/numeric_bindings boost-sandbox/}}}
  1. '''lapack'''
  1. '''opencv''' >=2.1 <2.4
  1. '''qt4''' (optional, for 2D display)
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  1. [[http://gdhe.openrobots.org/|gdhe]]
  1. [[http://softs.laas.fr/openrobots/robotpkg/image/viam-libs/|viam]]:{{{
git clone http://softs.laas.fr/git/robots/viam-libs}}}		   1. [[http://gdhe.openrobots.org/|gdhe]] (optional, for 3D display)
  1. [[http://homepages.laas.fr/mallet/soft/image/viam-libs|viam]] (optional, for live use firewire cameras)
  1. [[http://trac.laas.fr/openrobots/robotpkg/hardware/MTI/index.html|MTI driver]] (optional, for live use of XSens MTi IMU)
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git clone http://<login>@trac.laas.fr/git/robots/jafar/jafar}}} git clone http://trac.laas.fr/git/robots/jafar/jafar.git}}}
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{X} FIXME modify git_config.sh to allow http checkout

=== Configure the environment ===

You need to set a few environment variables:
  * Add to \c $LD_LIBRARY_PATH the path \c $JAFAR_DIR/lib/platform if necessary

{X} FIXME is it really necessary for basic usage ?
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 cmake <options> ../  cmake ../ -DENABLE_TCL=OFF -DENABLE_RUBY=OFF -DCMAKE_BUILD_TYPE=release <options>
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The common options you may want to pass to cmake are: {i} If you need to modify RT-SLAM, you may want to create two directories build_debug and build_release and run cmake in each of them with the appropriate -DCMAKE_BUILD_TYPE option.
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 1. '''-DPATH_TO_BOOST_SANDBOX=/path/to/boost-sandbox''' to tell cmake where to find boost-sandbox (such as $PATH_TO_BOOST_SANDBOX/boost/numeric/bindings exists)
 1. '''-DBOOST_ROOT=/path/to/boost''' to tell cmake which boost installation to use, if there are several of them or if it is in a non-standard path (such as $BOOST_ROOT/include/boost exists)
 1. '''-DOpenCV_ROOT_DIR=/path/to/opencv''' to tell cmake where to find opencv (such as $OpenCV_ROOT_DIR/include/opencv exists)
 1. '''-DENABLE_TCL=OFF''' and/or '''-DENABLE_RUBY=OFF''' to disable scripting languages		 The additional common options you may want to pass to cmake are:

 1. '''-DPATH_TO_BOOST_SANDBOX=/path/to/boost-sandbox''' to tell cmake where to find boost-sandbox (such that $PATH_TO_BOOST_SANDBOX/boost/numeric/bindings exists)
 1. '''-DBOOST_ROOT=/path/to/boost''' to tell cmake which boost installation to use, if there are several of them or if it is in a non-standard path (such that $BOOST_ROOT/include/boost exists)
 1. '''-DOpenCV_ROOT_DIR=/path/to/opencv''' to tell cmake where to find opencv (such that $OpenCV_ROOT_DIR/include/opencv exists)
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{i} If you have some trouble making it find the right dependencies, sometimes it is useful to remove the CMakeCache.txt file in the build directory before running the cmake command again.
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$JAFAR_DIR/bin/jafar_checkout rtslam
cd $JAFAR_DIR/build
make rebuild_cache
cd modules/rtslam		 cd $JAFAR_DIR
bin/jafar_checkout rtslam
bin/jafar_checkout qdisplay
bin/jafar_checkout gdhe
cd build

Installing RT-SLAM

RT-SLAM is currently provided as-is and is not standalone, and is not advised to people who don't feel very comfortable with manual installation from source. Installation will be more simple when the first release will be made. Currently you need to install our modular development environment Jafar, and the required dependencies.

Installation is possible with all Linux flavors and MacOS X.

Dependencies

Standard development tools

  1. gcc-c++

  2. make

  3. cmake

  4. git

External libraries

When you install these libraries with your system package manager, you have to also install the development packages (in general named package-devel or package-dev).

  1. boost >= 1.40

  2. boost-sandbox/numeric-bindings: 

    svn co http://svn.boost.org/svn/boost/sandbox/numeric_bindings boost-sandbox/

  3. lapack

  4. opencv >=2.1 <2.4

  5. qt4 (optional, for 2D display)

LAAS libraries

  1. gdhe (optional, for 3D display)

  2. viam (optional, for live use firewire cameras)

  3. MTI driver (optional, for live use of XSens MTi IMU)

Jafar Installation

Download

git clone http://trac.laas.fr/git/robots/jafar/jafar.git

We will later refer to the directory where you cloned jafar as $JAFAR_DIR.

Configure the build system

Jafar uses cmake. 

   1  mkdir $JAFAR_DIR/build
   2  cd $JAFAR_DIR/build
   3  cmake ../ -DENABLE_TCL=OFF -DENABLE_RUBY=OFF -DCMAKE_BUILD_TYPE=release <options>

{i} If you need to modify RT-SLAM, you may want to create two directories build_debug and build_release and run cmake in each of them with the appropriate -DCMAKE_BUILD_TYPE option.

The additional common options you may want to pass to cmake are:

  1. -DPATH_TO_BOOST_SANDBOX=/path/to/boost-sandbox to tell cmake where to find boost-sandbox (such that $PATH_TO_BOOST_SANDBOX/boost/numeric/bindings exists)

  2. -DBOOST_ROOT=/path/to/boost to tell cmake which boost installation to use, if there are several of them or if it is in a non-standard path (such that $BOOST_ROOT/include/boost exists)

  3. -DOpenCV_ROOT_DIR=/path/to/opencv to tell cmake where to find opencv (such that $OpenCV_ROOT_DIR/include/opencv exists)

  4. -DCMAKE_BUILD_TYPE=debug or -DCMAKE_BUILD_TYPE=release to choose a compilation profile, you can have both in two different build dirs at the same time, to easily switch between them

  5. -DCMAKE_CXX_FLAGS="-pthread" to add some global compilation flags, for example this one if gcc complains that threading is disabled (happens with some versions of gcc)

You man want to save the cmake command with its arguments in some file $JAFAR_DIR/cmake-command.txt in case you have to do it again from the beginning.

{i} If you have some trouble making it find the right dependencies, sometimes it is useful to remove the CMakeCache.txt file in the build directory before running the cmake command again.

RT-SLAM installation

   1 cd $JAFAR_DIR
   2 bin/jafar_checkout rtslam
   3 bin/jafar_checkout qdisplay
   4 bin/jafar_checkout gdhe
   5 cd build
   6 make

OpenrobotsWiki: rtslam/Installation (last edited 2015-01-14 07:29:26 by croussil)