vio_common

Build instructions

Install opencv 2.4 and eigen 3.3

#e.g., 
sudo apt-get install libopencv-dev libeigen3-dev

If you want to install a specific version of these libraries or install to a specific path (note -DCMAKE_INSTALL_PREFIX), you may build them from source.

Build vio_common

Without ROS

cd workspace
git clone https://github.com/JzHuai0108/vio_common.git vio_common
mkdir build && cd build
#cmake .. -DOpenCV_DIR=/folder/of/OpenCVConfig.cmake -DEIGEN_INCLUDE_DIR=/folder/of/Eigen -DCMAKE_INSTALL_PREFIX=$HOME/workspace/local_install/vio_common -DUSE_ROS=OFF
#e.g.,
cmake .. -DOpenCV_DIR=$HOME/workspace/local_install/opencv/share/OpenCV -DEIGEN_INCLUDE_DIR=$HOME/workspace/local_install/eigen -DCMAKE_INSTALL_PREFIX=$HOME/workspace/local_install/vio_common -DUSE_ROS=OFF
make
make install

With ROS

catkin build vio_common -DCMAKE_BUILD_TYPE=Release -j4

Build and run gtests

# Build tests
catkin build vio_common --catkin-make-args run_tests
# or
catkin build --make-args tests -- vio_common

# list tests
rosrun vio_common vio_common_test --gtest_list_tests
# run a test
rosrun vio_common vio_common_test --gtest_filter="*some_test*"

which ROS?

To bypass the tight coupling of ros and ubuntu, we use the robostack to manage ros envs. This way, we can use noetic on ubuntu 22.

References

[1] Build and run tests with catkin tools. [2] Run unit tests with catkin