源码安装rtabmap_ros,需要要求的依赖时,要记住apt-get install之后要apt-get remove
$ sudo apt-get install ros-kinetic-rtabmap ros-kinetic-rtabmap-ros
$ sudo apt-get remove ros-kinetic-rtabmap ros-kinetic-rtabmap-ros
可选的依赖中
1、g2o直接二进制安装即可
sudo apt-get install ros-kinetic-libg2o
2、GTSAM:
依赖——Boost
sudo apt-get install libboost-all-dev
依赖——Cmake
sudo apt-get install cmake
主程序安装
$ git clone https://bitbucket.org/gtborg/gtsam.git
$ mkdir build
$ cd build
$ cmake ..
$ make check (不需要,时间太长)
$ make install
安装RTABMAP
$ git clone https://github.com/introlab/rtabmap.git rtabmap
$ cd rtabmap/build
$ cmake -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel ..
$ make
$ sudo make install
安装RTABMAP_ROS
$ cd ~/catkin_ws
$ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
$ catkin_make