Solutions of Installing for SLAM Project

(Solutions of Installing for SLAM Project(ubuntu 14.04))

Recenly i reinstalled my linux system, because confronted with main system’s problem and suddenly continued to stop when i boot my linux system. After reinstall, discovered some errors in my blog’s tutorial.

Ceres solver

Several weeks ago when i make about this package’s tutorial, also i couldn’t solved, even several hours ago. after many days finally i found the solution
Maybe some guys also faced this kind of problem.

when you typed “make” command, happened errors with “eigen matrix” ,so give some solution.

The step is almost same with the other guys tutorial.

git clone https://ceres-solver.googlesource.com/ceres-solver

And also you can install another way

http://ceres-solver.org/ceres-solver-1.13.0.tar.gz

sudo apt-get install cmake libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev

sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update

and extract ceres solver’s package,

tar zxf ceres-solver-1.13.0.tar.gz

and make 2 diretorys, “ceres” and “ceres-bin”, “ceres” is top dicrectory, put “ceres-bin” into ceres folder, And also put this folder that you extracted.

like this.

/home/vrlab925/Pictures/Screenshot from 2019-11-29 17:16:39.png

and enter to ceres-bin directory, and type this command

cmake ../ceres-solver-1.13.0

after this command, type it

make 

make test

sudo make install

and type it this command.

bin/simple_bundle_adjuster ../ceres-solver-1.13.0/data/problem-16-22106-pre.txt 

Then you’re system is would be ready to use.

Install ROS-kinectic package

For install ROS package, need to this step,

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

udo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

And getting public key, but comes out this errors,
W: GPG error: http://packages.ros.org trusty InRelease: The following signatures couldn’t be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654

use this command, i solved this problem

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

And type follow to this command

sudo apt-get install ros-indigo-desktop-full

sudo rosdep init

rosdep update

source ~/.bashrc

sudo apt-get install python-rosinstall

Install libfreenect package

For install this package, you need install basement package

sudo apt-get install autotools-dev ccache doxygen dh-autoreconf git liblapack-dev libblas-dev libgtest-dev libreadline-dev libssh2-1-dev pylint clang-format-3.8

git clone https://github.com/OpenKinect/libfreenect.git
cd libfreenect
mkdir build
cd build
cmake ..
make

But would be face this problem when you in “make” step especially at 94% ,
go to libfreenect folder, open cmakelist.txt .

and change this content in line 119.

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")

then you can finish to install.

REFERENCE

[1]: https://www.ncnynl.com/archives/201801/2273.html
[2]: https://blog.csdn.net/setella/article/details/82897841
[3]: https://blog.csdn.net/xy1361212098/article/details/95312503