Prerequisites - ripl-lab/allan_variance_ros2 GitHub Wiki

Prerequisites

If you do not have Ubuntu 22.04 or just don't want to install the dependencies locally, you can use the devcontainer to easily build and run the tool from any machine. See the devcontainer README for more information.

Otherwise, you can install the following dependencies:

• Ubuntu 22.04
• ROS 2 Humble (https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html)
• Install ros-humble-rosbag2-storage-mcap (https://github.com/ros2/rosbag2/tree/rolling/rosbag2_storage_mcap). sudo apt install ros-humble-rosbag2 ros-humble-rosbag2-storage-mcap
• MCAP CLI (https://mcap.dev/guides/cli)

If not using the devcontainer and you want to record data from the RealSense D435i camera, see the RealSense ROS2 Integration documentation to install the RealSense ROS2 wrapper and RealSense SDK.