ubuntu16 配置 RGBD-SLAM V2
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一、安装RGBD-SLAM V2
下面介绍两种安装方式：
安装方法一：
git clone https://github.com/felixendres/rgbdslam_v2.git
cd rgbdslam_v2
source install.sh
接着会提示
This script puts all code into ‘/home/damon/Code’. Edit this script to change the location.
Press enter to continue, Ctrl-C to cancel
编译完成后，将安装在**~/Code/rgbdslam_catkin_ws**
然后需要将此路径加入到bash中
source ~/Code/rgbdslam_catkin_ws/devel/setup.bash
此时，rgbdslam_v2已经安装成功
安装方式二：
1、创建ros工作空间
mkdir -p ~/rgbdslam_catkin_ws/src
cd ~/rgbdslam_catkin_ws/src
catkin_init_workspace
cd ~/rgbdslam_catkin_ws/
catkin_make
echo "source /home/XXXX/rgbdslam_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
2、下载 rgbd-slam v2
$ cd ~/rgbdslam_ws/src
$ wget -q http://github.com/felixendres/rgbdslam_v2/archive/kinetic.zip
$ unzip -q kinetic.zip
$ cd ~/rgbdslam_ws/
$ rosdep update
$ rosdep install rgbdslam
3、编译
$ cd rgbdslam_ws
$ catkin_make
等待编译完成就可以了。
二、测试
打开第一个终端
$ roscore
打开第二个终端
$ roslaunch rgbdslam rgbdslam.launch
如果显示如下图，表示安装成功：
运行数据集：
打开第三个终端：
$ rosbag play rgbd_dataset.bag
注意：修改rgbdslam.launch中节点的对应关系。
三、报错处理
报错一：在运行 roslaunch rgbdslam rgbdslam.launch 时报错
报错信息如下：
ubuntu16@ubuntu16:~$ roslaunch rgbdslam rgbdslam.launch
... logging to /home/ubuntu16/.ros/log/d425a142-8ec0-11ea-856f-e09d31fca5a8/roslaunch-ubuntu16-3448.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ubuntu16:38461/
SUMMARY
========
PARAMETERS
* /rgbdslam/config/backend_solver: pcg
* /rgbdslam/config/cloud_creation_skip_step: 2
* /rgbdslam/config/cloud_display_type: POINTS
* /rgbdslam/config/detector_grid_resolution: 3
* /rgbdslam/config/feature_detector_type: ORB
* /rgbdslam/config/feature_extractor_type: ORB
* /rgbdslam/config/max_keypoints: 600
* /rgbdslam/config/max_matches: 300
* /rgbdslam/config/min_sampled_candidates: 4
* /rgbdslam/config/neighbor_candidates: 4
* /rgbdslam/config/optimizer_skip_step: 1
* /rgbdslam/config/pose_relative_to: largest_loop
* /rgbdslam/config/predecessor_candidates: 4
* /rgbdslam/config/ransac_iterations: 100
* /rgbdslam/config/topic_image_depth: /camera/depth_reg...
* /rgbdslam/config/topic_image_mono: /camera/rgb/image...
* /rgbdslam/config/topic_points:
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
/
rgbdslam (rgbdslam/rgbdslam)
ROS_MASTER_URI=http://localhost:11311
process[rgbdslam-1]: started with pid [3465]
================================================================================REQUIRED process [rgbdslam-1] has died!
process has died [pid 3465, exit code -11, cmd /home/ubuntu16/rgbdslam_ws/devel/lib/rgbdslam/rgbdslam __name:=rgbdslam __log:=/home/ubuntu16/.ros/log/d425a142-8ec0-11ea-856f-e09d31fca5a8/rgbdslam-1.log].
log file: /home/ubuntu16/.ros/log/d425a142-8ec0-11ea-856f-e09d31fca5a8/rgbdslam-1*.log
Initiating shutdown!
================================================================================
[rgbdslam-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
原因分析： PCL与g2o不兼容导致,下载pcl1.8版本替换系统的1.7
解决办法如下:
cd 到某个路径,存放pcl
wget https://github.com/PointCloudLibrary/pcl/archive/pcl-1.8.0.tar.gz
tar -zxvf pcl-1.8.0.tar.gz
cd pcl-pcl-1.8.0/
vim CMakeLists.txt
在146行加插入 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
mkdir build&&cd build
cmake ..
make VERBOSE=1 -j8
sudo make install
# 2000 years later
接下来做以下操作:
- 修改rgbdslam_v2的 :修改第 79 行:find_package(PCL 1.7 REQUIRED COMPONENTS common io) 为 find_package(PCL 1.8 REQUIRED COMPONENTS common io)
- 修改 /opt/ros/kinetic/share/pcl_ros/cmake/pcl_rosConfig.cmake文件,将所有/usr/lib/x86_64-linux/libpcl开头的内容改成/usr/local/lib/libpcl
修改完成之后重新source install.sh 编译一下
再次运行roslaunch rgbdslam rgbdslam.launch
会出现以下界面(这就说明你已经安装成功了):
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