ROS下创建RATSLAM并编译教程

Ubuntu 16.04版本

home文件夹~/下

1. 新建catkin_ws文件夹
2. cd catkin_ws/
3. mkdir src/
4. cd src/
5. catkin_init_workspace or catkin build( if command unfound)

   sudo apt-get install ros-kinetic-catkin python-catkin-tools

6. src中 git clone https://github.com/DreamWaterFound/OpenRATSLAM_for_ROS-Kinetic ratslam_ros
7. install opencv 自行搜索
8. install irrlicht： sudo apt-get install libirrlicht1.8 libirrlicht-dev libirrlicht-doc
9. 下载irrlicht lib https://sourceforge.net/projects/irrlicht/files/Irrlicht%20SDK/     进入~/irrlicht-1.8.4/source/Irrlicht并$make然后按下面的操作，libIrrlicht.a位置：~/irrlicht-1.8.4/lib/Linux

10. Make sure you have install irrlicht correctly. You may need to create a folder neamed "irrlicht" under the "include" folder and put all the header files in it, like this:

    (irrlicht root)

        ├── include

        │      └── irrlicht

        │                └── (header files)

        └── lib

                  └── libIrrlicht.a

    In addition, in order to let cmake can find irrlicht, remember to add an environment variable named IRRDIR which stored it's root path. You can add the following line in ~/.bashrc:

    export IRRDIR="Your irrlicht library root path" 此段来源https://github.com/DreamWaterFound/OpenRATSLAM_for_ROS-Kinetic

11. catkin_ws中一定要先 source devel/setup.bash or  echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc # Adds workspace to search path

12. catkin_make

13. Start roscore and play bag file, for example :

    rosbag play ~/Datasets/irat_aus_28112011.bag

    Start up OpenRatSLAM and enjoy.

    roslaunch ratslam_ros irataus.launch(roslaunch 可以代替roscore)

14. enjoy！