Setting up the Environment (Natively or Docker or VM) - Kapernikov/tech-session-visual-odometry GitHub Wiki

Setting up the environment natively in an Ubuntu 18.04 machine

  1. Install ROS Melodic Morenia (desktop full): wiki.ros.org/melodic/Installation/Ubuntu
  2. Install catkin tools:
$ sudo apt install python3-catkin-tools
  1. Create a catkin workspace:
$ mkdir -p ~/catkin_ws/src && cd ~/catkin_ws && catkin init
  1. Clone the tech-session repository:
$ git clone https://gitlab.com/Kapernikov/Intern/tech-session-visual-odometry.git ~/catkin_ws/src/tech-session-visual-odometry.git
  1. Install the ros dependencies of the tech-session repository:
$ cd ~/catkin_ws && rosdep install -yr --from-paths src --ignore-src --rosdistro melodic
  1. Build the workspace:
$ catkin build
  1. (Optional) Build OpenCV (more feature types), RTAB-Map(-ROS), additional VO libraries (eg. ORB2-SLAM, Viso2), and graph optimization libraries (g2o, GTSAM) from source: Follow instructions in the README file of the repo you downloaded

Setting up a Docker environment

  1. Install Docker for Linux
  2. And do the post-installation steps
  3. Clone or download the tech-session repository anywhere you want
$ git clone https://gitlab.com/Kapernikov/Intern/tech-session-visual-odometry.git
  1. Open a terminal (linux) or powershell (windows) and go into the repository you just cloned and execute
$ ./docker_build.sh
  1. Create a docker container from the built image
$ ./docker_run.sh
  1. Connect to the container in any terminal you open by executing
$ ./docker_connect.sh

Setting up a Virtual Machine (VM) environment (Suggested for Beginners)

  1. Download and Install Virtual-Box 5.2 NOT 6.0 for your operating system from the official website.
  2. You can download the virtual machine from google drive
  3. Open Virtual-Box 5.2 and go to File>Import Appliance, browse to find the OVA image and and click next. In the next screen you can change some settings such as allocated CPU cores or RAM. Allocate at least half of your system’s resources. For example, for a system with 4 CPU cores and 8GB RAM, allocate at least 2 cores and 4GB RAM. Click next and the virtual machine will be imported.
  4. Then select it in the Virtual-Box manager and start it Log in to user: kapernikov with password: kapernikov

vbox1.png vbox2.png