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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

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.

• "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

• opencv2/ccalib/omnidir.hpp not found in ImageProcessing.h

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• 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 to configFromFile and vocabFile here.
  And also lpslam_config, config_yaml and vocab_file in lpslam_params.yaml for the latest version.

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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