NOTE: due to lack of time this repo is currently unsupported, meaning issues will be left unaddressed. Sorry!
This repo has a ROS2 wrapper for the Basalt VIO library. ROS1 is no longer supported. The original Basalt repo is still available under the "deprecated_ros1_ros2" branch.
Continuous integration testing on:
- ROS2 galactic on Ubuntu 20.04 (focal)
- ROS2 humble on Ubuntu 22.04 (jammy)
The following apt packages must be installed on top of the ROS2 base image:
sudo apt-get install libbz2-dev
sudo apt-get install ros-humble-ament-cmake-clang-format
cd top_of_your_workspace
mkdir src # (if not already there)
git clone https://github.com/berndpfrommer/basalt_ros.git ./src/basalt_ros
# now fetch the dependencies (including the basalt repository etc)
# (this can take a while, patience)
vcs import --recursive < src/basalt_ros/basalt_ros.repos
vcs import --recursive < src/basalt_wrapper/basalt_wrapper.repos
cd top_of_your_workspace
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
If this step fails it is probably because some Ubuntu packages are missing. Just install them one by one until you succeed.
... to be done ...
This software is issued under the Apache License Version 2.0.