编译运行Pop-up slam

Create or use existing a ros workspace.

mkdir -p ~/popup_ws/src
cd ~/popup_ws/src
catkin_init_workspace
git clone git@github.com:shichaoy/pop_up_slam.git
cd pop_up_slam

Install dependency packages of python

sh install_dependenices.sh

Download Data

https://drive.google.com/drive/folders/192wwtxHryaTYMNsdYEu_YI9iQNy1BCbd
根据download_data.sh把下载包放到对应的文件夹下

Compile

cd ~/popup_ws
catkin_make -j4
catkin_make --only-pkg-with-deps pop_up_python -j4     #just double check
catkin_make --only-pkg-with-deps pop_planar_slam -j4   #just double check

Running

source devel/setup.bash
roslaunch pop_planar_slam pop_planar_tum_far_example.launch

source devel/setup.bash
roslaunch line_lbd line_detect.launch

You will see results in Rviz.