#Install rgbdslam in hydro (ubuntu 12.04)#
##Prepare Workspace##
source /opt/ros/hydro/setup.bash
mkdir -p ~/rgbdslam_catkin_ws/src
cd ~/rgbdslam_catkin_ws/src
catkin_init_workspace
cd ~/rgbdslam_catkin_ws/
catkin_make
source devel/setup.bash
##Get RGBDSLAM##
cd ~/rgbdslam_catkin_ws/src
wget -q http://github.com/felixendres/rgbdslam_v2/archive/hydro.zip
unzip -q hydro.zip
cd ~/rgbdslam_catkin_ws/
##Install##
rosdep update
rosdep install rgbdslam
catkin_make
##ERRORs and Solution##
- when excute catkin_make follow steps above,there will be errors like" Error: no such instruction: `vfmadd312ss (%r15),%xmm0,%xmm1'"
solutions:
$ cd ~/catkin_ws/src/rgbdslam_v2-hydro/
$ mkdir build
$ cd build
$ cmake ..
$ make -j8
##GPU OPTION##
if there is no a good gpu in your machine.
change USE_SIFT_GPU to 0 in CMkeLists.txt
#Install OpenNI package#
$ sudo apt-get install ros-hydro-openni-camera
$ sudo apt-get install ros-hydro-openni-launch
$ roslaunch openni_launch openni.launch
##Configure openni node##
Edit launch file -- openni.launch in /opt/ros/hydro/share/openni_launch/launch/openni.launch
add the following lines to change depth_mode and rgb_mode (lower the resolution of rgb image and depth image to 320 * 240 for performance):
<param name="/$(arg camera)/driver/image_mode" value="5" />
<param name="/$(arg camera)/driver/depth_mode" value="5" />
insert them after the line where argument "depth_frame_id" is set.
##Run the opnni node##
Before running the openni node, make sure environment variable -- ROS_MASTER_URI was set correctly, and roscore is running at the master host.
type the command below:
$ roslaunch openni_launch openni.launch
#Setup Yocto + ROS on Galileo board#
refer to http://wiki.ros.org/IntelGalileo/How%20to%20install%20ROS%20Hydro%20on%20Intel%20Galileo
Some instructions in this section: http://wiki.ros.org/IntelGalileo/IntelGalileoYoctoSetupOnGalileo may cause problems when running roscore on Galileo board.
They are:
_TIMEOUT_MASTER_START = 20.0 , in /usr/lib/python2.7/site-packages/roslaunch/launch.py
this value should be set to a much larger value than 20, such as 500.
and the instruction "$ mv /usr/lib/ros* /opt/ros/lib " should not be executed.