SLOAM was developed and tested using Ubuntu 20.04 with ROS Noetic and GCC 9.3. After all dependencies are installed you can continue following the main README file from Build workspace
.
Create a folder called thirdparty
to clone the packages that will be compiled with CMake.
mkdir ~/thirdparty
cd ~/thirdparty
apt-get update && apt-get install -y \
software-properties-common \
build-essential \
gdb \
libeigen3-dev \
libglfw3-dev \
libglew-dev \
libtclap-dev \
libtins-dev \
libpcap-dev \
libatlas-base-dev
git clone https://github.com/fmtlib/fmt.git && \
cd fmt && \
git checkout 215f21a0382d325efa66df53fbfbfddb020a2234 && \
mkdir fmt/build && cd fmt/build && \
cmake .. && make && make install
git clone https://github.com/google/glog.git && \
cd glog && \
git checkout ee6faf13b20de9536f456bd84584f4ab4db1ceb4 && \
mkdir build && cd build && \
cmake .. && make && make install
git clone https://github.com/strasdat/Sophus.git && \
cd Sophus && \
git checkout 49a7e1286910019f74fb4f0bb3e213c909f8e1b7 && \
mkdir build && cd build && \
cmake -DCMAKE_BUILD_TYPE=Release .. && make && make install
git clone https://ceres-solver.googlesource.com/ceres-solver && \
cd ceres-solver && \
git checkout 206061a6ba02dc91286b18da48825f7a9ef561f0 && \
mkdir build && cd build && cmake .. && make && make install
pip install pytest==6.2.1 onnx==1.10.1
cd /tmp && \
git clone --recursive --branch v1.8.2 https://github.com/Microsoft/onnxruntime && \
cd onnxruntime && \
./build.sh \
--config RelWithDebInfo \
--build_shared_lib \
--build_wheel \
--skip_tests \
--parallel 3 && \
cd build/Linux/RelWithDebInfo && \
make install && \
pip install dist/* && cd ..
apt-get install -y \
ros-noetic-rviz \
ros-noetic-tf2-eigen \
ros-noetic-pcl-ros \
ros-noetic-pcl-conversions \
ros-noetic-cv-bridge \
ros-noetic-image-transport \
ros-noetic-image-geometry \
ros-noetic-rqt-image-view \
ros-noetic-eigen-conversions \
ros-noetic-robot-localization \
python3-catkin-tools \
python3-osrf-pycommon