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

5. qt4 (for 2D display)

LAAS libraries

1. gdhe (for 3D display)

2. viam (for firewire cameras)

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>

The 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.

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