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
2. gcc-c++
3. make
4. git
5. cmake

External libraries

When you install these libraries with your system package manager, you have to also install the development packages.

1. boost >= 1.40

2. boost-sandbox/numeric-bindings:

   svn co http://svn.boost.org/svn/boost/sandbox/numeric_bindings-v1 boost-sandbox/

3. lapack

4. opencv >= 2.1

5. swig
6. qt4

LAAS libraries

1. gdhe

2. viam:

   git clone http://softs.laas.fr/git/robots/viam-libs

Jafar Installation

Download

git clone http://<login>@trac.laas.fr/git/robots/jafar/jafar

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

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

FIXME is it really necessary for basic usage ?

Configure the build system

Jafar uses cmake.

   1  mkdir $JAFAR_DIR/build
   2  cd $JAFAR_DIR/build
   3  cmake <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 as $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 as $BOOST_ROOT/include/boost exists)

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

4. -DENABLE_TCL=OFF and/or -DENABLE_RUBY=OFF to disable scripting languages

5. -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

6. -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 $JAFAR_DIR/bin/jafar_checkout rtslam
   2 cd $JAFAR_DIR/build
   3 make rebuild_cache
   4 cd modules/rtslam
   5 make