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Code Block |
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git clone https://github.com/lp-research/lpslam_node.git cd lpslam_node git submodule update --init --recursive cd lpslam/conan-packages . install_all.sh cd .. git pull origin main cd external/openvslam/ git checkout lpr-main cd ../../.. colcon build --symlink-install \ --cmake-args -DUSE_PANGOLIN_VIEWER=ON -DUSE_SOCKET_PUBLISHER=OFF \ -DBUILD_WITH_MARCH_NATIVE=OFF -DCMAKE_LIBRARY_PATH=${INSTALL_ROOT}/lib \ -DLPSLAM_BUILD_OPENVSLAM=ON -DLPSLAM_BUILD_OPENVSLAM_PANGOLIN=ONROOT}/lib \ -DLPSLAM_BUILD_OPENVSLAM=ON -DLPSLAM_BUILD_OPENVSLAM_PANGOLIN=ON |
Info |
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New |
Starting from commit 0c16c936 and thanks to Alexey Merzlyakov’s amazing work, we provide two versions of lpslam ros2 wrapper.
- One equivalent to the previous version.
- A new version that is more independent from lpslam module
to enable direct interfacing with OpenVSLAM
in order to simplify and do things in a more ros-ey way.
The intended version can be selected at build time by appending the previous build command with -DUSE_OPENVSLAM_DIRECTLY=OFF
or -DUSE_OPENVSLAM_DIRECTLY=ON
.
Note |
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Some minor errors may be encountered depending on the system, below are the fixes |
"cannot find -lopengl_helper" when building g2o can be fixed by setting G2O_USE_OPENGL=True Here then sourcing the packages again.
Code Block cd lpslam/conan-packages . install_all.sh
...
Source the lpslam and lpslam_interfaces packages then run the lpslam node with the proper configuration.
For the configuration files, make sure to change the path for toconfigFromFile
andvocabFile
here.
And alsolpslam_config
,config_yaml
andvocab_file
in lpslam_params.yaml for the latest version.
Code Block |
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source path_to_lpslam_ws/lpslam_interfaces/install/setup.bash source path_to_lpslam_ws/lpslam_node/install/setup.bash ros2 launch turtlebot3_lpslam lpslam_gazebo.launch.py |
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