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local_installation.md

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Local Installation

Follow the GitHub installation instructions: https://github.com/utiasASRL/vtr3/wiki/Installation-Guide with the following changes:

  • after downloading the vtr3 repo, switch to main_radar branch before updating submodules
cd ${VTRSRC}
git clone [email protected]:utiasASRL/vtr3.git .
git checkout main_radar  # !!!
git submodule update --init --remote
  • for radar there's no need to change anything in gpusurf, since we won't use it anyway
  • cuda is also optional to install, we won't use it anyway
  • we will use the apt version of OpenCV, so DO NOT install it from source. Skip Install OpenCV section completely. If you have installed, remove it.
  • install ROS2 Galactic from apt, do not build it from source
  • also, in the Install dependencies from ROS2 packages section, use the apt install option for all packages, do not build them from source
  • skip the Build and install driver and robot description packages section as we are only evaluating the localization mapping pipeline
  • Build and install VT&R3, use the following command instead, and do not build the GUI (not necessary)
source /opt/ros/galactic/setup.bash  # source the ROS environment
colcon build --symlink-install --packages-up-to vtr_radar  # only build up to the vtr_radar package, we don't need the other packages
  • After building vtr3, we need to build the boreas_vtr_wrapper package, using the following:
source ${VTRSRC}/main/install/setup.bash  # source the vtr3 environment
cd ~/ASRL/boreas_vtr_wrapper  # go to where this repo is located
colcon build --symlink-install