Ros (Fuerte) +rgbdslam_freiburg+installation

Ros (Fuerte) +rgbdslam_freiburg+installation

1. Download Fuerte version of Rgbdslam_freiburg. Because Google's source is now unable to find the server, unless the wall is turned. So we are now downloading from the ros.org package: Http://www.ros.org/browse/list.php?package_type=package&distro=fuerte

Note that the above packages need to be downloaded in Ros workspace.

2. Install dependencies

$sudo apt-get Install Libglew1.6-devlibdevil-dev Libsuitesparse-dev

$sudo Apt-get installros-fuerte-octomap-mapping

$sudo Apt-get Installros-fuerte-openni-launch

If the somatosensory camera is Asus Xtion Pro Live, install the driver reference http://blog.csdn.net/jasmine_shine/article/details/46444603

3. Installing Rgbdslam_freiburg

First, the CD enters the path to the package, and then executes the following command:

$sudo Apt-get Install PYTHON-ROSDEP

$sudo ROSDEP Init

$ROSDEP Update

$ROSDEP Install Rgbdslam_freiburg

$rosmake Rgbdslam_freiburg

Run to here there are some problems that show Siftgpu cannot becompiled. Returnd 2. Looked up a lot of information, and some said changes in Cmakelist.txt and menifest.xml files in the dependencies, including G2O, tried again is useless. Finally, the set (Use_sift_gpu 1) in Cmakelist.txt is changed to set (Use_sift_gpu 0). The execution of the Rosmake was successful. Note that this rosmake takes a long time, please wait patiently.

4. Test use

$roslaunch Rgbdslam Kinect+rgbdslam.launch

The post-boot interface looks like this:

Tap the "SPACEBAR" or "enter" to start the data collection as shown in.

Ros (Fuerte) +rgbdslam_freiburg+installation