说明:ubuntu版本:18.04,对应ros版本:melodic,如有版本不对应,如indigo、kinetic版本,替换掉melodic即可
源码安装
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新建工作空间catkin_ws
mkdir -p ~/catkin_ws/src cd ~/catkin_ws catkin_make
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加载相应的环境,也可以添加到~/.bashrc文件,不用每次手动执行
source /opt/ros/melodic/setup.bash source ~/catkin_ws/devel/setup.bash
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必要的依赖安装,最简单的方法安装相关依赖 (Qt, PCL, VTK, OpenCV, …):
通过安装二进制版本,再删除
sudo apt-get install ros-melodic-rtabmap ros-melodic-rtabmap-ros sudo apt-get remove ros-melodic-rtabmap ros-melodic-rtabmap-ros
下载安装rtabmap
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源码安装rtabmap
cd ~ git clone https://github.com/introlab/rtabmap.git rtabmap cd rtabmap/build cmake -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel .. make -j4 make install
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源码安装rtabmap_ros
cd ~/rtabmap_ws git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros catkin_make -j1
内存太小的话,使用-j1 ,内存大可以去掉。
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版本更新
cd rtabmap git pull origin master cd build make make install roscd rtabmap_ros git pull origin master cd ~/catkin_ws catkin_make