This installation guide was tested with Ubuntu 16.04 and Ubuntu 18.04.
- CMake >= 3.0
- ROS (>= Kinetic) (see installation guide).
For Ceres, you need to install the following packages:
sudo apt install liblapack-dev libblas-dev
First, we need to create a catkin workspace for UltimateSLAM and initialize it:
mkdir -p ~/uslam_ws/src && cd ~/uslam_ws
catkin init
Then, we configure our workspace to extend ROS base workspace, and to compile in release mode (with optimizations) by default.
Please replace kinetic with your version of ROS (e.g. melodic).
catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release
Clone the UltimateSLAM repository and run vcstool to automatically import the dependencies:
cd src/
git clone [email protected]:uzh-rpg/rpg_ultimate_slam_open.git
vcs-import < rpg_ultimate_slam_open/dependencies.yaml
Finally, build UltimateSLAM:
catkin build ze_vio_ceres
This will take some time (a couple of minutes at least). In case of errors, see the Troubleshooting section below.
If building succeeds, congrats! You have installed UltimateSLAM. Your next step will be to run some examples to test your setup.