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install.sh
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install.sh
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#This script installs rgbdslam_v2 and g2o in ~/Code
#This script can be downloaded individually, as it
#does not require rest of the rgbdslam repository.
#It will download all required code in the process.
#If you have a fast machine with 4GB RAM or more, increase the
#two occurences of "-j2" below to parallelize the compilation more
USERNAME=$USER
#Prepare System
if test ! -d /opt/ros/kinetic; then
echo This script assumes ROS kinetic to be installed
echo The directory /opt/ros/kinetic was not found
exit 1
fi
SUBDIR=~/Code
echo "This script puts all code into '$SUBDIR'. Edit this script to change the location."
echo "Press enter to continue, Ctrl-C to cancel"
read
mkdir -p $SUBDIR
chown $USERNAME $SUBDIR
source /opt/ros/kinetic/setup.bash
echo
echo "Removing packages known to conflict (password required for apt-get)"
echo
sudo apt-get purge ros-kinetic-libg2o libqglviewer-dev
echo
echo "Updating ROS dependency database"
echo
rosdep update
echo "Install dependences for g2o"
sudo apt-get install libsuitesparse-dev libeigen3-dev
echo
echo
echo "Downloading, building and installing g2o"
echo
G2O_REPO_DIR=$SUBDIR/g2ofork
git clone -b c++03 https://github.com/$USERvivekbhargava/g2o.git $G2O_REPO_DIR
mkdir $G2O_REPO_DIR/build
cd $G2O_REPO_DIR/build
cmake .. -DCMAKE_INSTALL_PREFIX=$G2O_REPO_DIR/install -DG2O_BUILD_EXAMPLES=OFF
nice make -j2 install
echo
echo "Preparing catkin workspace for rgbdslam_v2"
echo
WORKSPACE=$SUBDIR/rgbdslam_catkin_ws
mkdir -p $WORKSPACE/src
cd $WORKSPACE/src
catkin_init_workspace
catkin_make -C $WORKSPACE
source $WORKSPACE/devel/setup.bash
echo
echo "Downloading rgbdslam_v2"
echo
#Get and build rgbdslam_v2
export G2O_DIR=$G2O_REPO_DIR/install
git clone -b kinetic https://github.com/$USERvivekbhargava/rgbdslam_v2.git $WORKSPACE/src/rgbdslam
#Install missing dependencies
rosdep install rgbdslam
echo
echo "Building rgbdslam_v2"
echo
nice catkin_make -C $WORKSPACE -j2