shibowing/radar_slam

A package for SLAM implementations using radar sensors.

radar_slam:

Implementation of SLAM using automotive radars. Currently under development.

ROS Dependencies:

As always, running:

rosdep install --from-paths src --ignore-src --rosdistro=ROSDISTRO -y

with ROSDISTRO set to kinetic, melodic etc. This should install all ROS dependencies, including:

PCL-related packages - Install using apt: ros-kinetic-pcl-conversions ros-kinetic-pcl-msgs ros-kinetic-pcl-ros tf2_eigen - Required for PCL, install using apt: sudo apt install ros-kinetic-tf2-eigen

However, we way need to install a few packages manually; see below.

ethz_piksi_ros

The ethz_piksi_ros is a ROS package provided by ETH Zurich for the Piksi Multi GPS. Clone it with:

cd CATKIN_WS/src
git clone https://github.com/ethz-asl/ethz_piksi_ros.git
cd ethz_piksi_ros
git checkout v1.11.0

where we need to checkout a non-master branch which doesn't have external dependencies based on this issue.

Misc Notes

These notes document installing other dependencies which shouldn't be needed, but were previously required by some packages.

Installing libsbp

Following the instructions here and this issue, we build libsbp from source:

cd /tmp
git clone https://github.com/swift-nav/libsbp
cd libsbp/c
mkdir build
cd build
git submodule update --init --recursive # solution from github issue
cmake ../
make
sudo make install   # install headers and libraries into /usr/local