ROS wrapper for GTSAM/iSAM2
- Install ROS melodic.
- Install Eigen3.
$ git clone https://gitlab.com/libeigen/eigen.git
$ cd eigen
$ mkdir build
$ cmake ..
$ sudo make install- Install boost libraries, >=1.58 (Ubuntu:
sudo apt-get install libboost-all-dev). - Install CMake, >=3.0.2 (Ubuntu:
sudo apt-get install cmake). - Install TBB, >=4.4 (Ubuntu:
sudo apt-get install libtbb-dev). - Install GTSAM. Newest version is not compatible. Use version 4.0.3 instead.
$ git clone https://github.com/borglab/gtsam.git
$ cd gtsam
$ mkdir build
$ cmake ..
$ sudo make install- Install landmark_detection ROS package.
- Clone this repo into ROS workspace and make:
$ cd ~/catkin_ws/src/
$ git clone https://github.com/ilnehc/gtsam_ros.git
$ cd ~/catkin_ws/
$ catkin_make