Commit 56b1d737 authored by Maurice Fallon's avatar Maurice Fallon
Browse files

clean up

parent 4755f748
...@@ -43,50 +43,30 @@ The default steps perform frame-to-reference localization and mapping, and inclu ...@@ -43,50 +43,30 @@ The default steps perform frame-to-reference localization and mapping, and inclu
#### Additional Functionalities #### Additional Functionalities
- **AICP localization only** -- frame-to-map localization. This localizes against a fixed input map - **Localization only mode** -- This localizes against a fixed input map
*** ***
### Quick Start ### Quick Start
#### Main dependencies #### Dependencies
* [libpointmatcher](https://github.com/ethz-asl/libpointmatcher.git), a modular library implementing the Iterative Closest Point \(ICP\) algorithm for aligning point clouds.
* [Point Cloud Library \(PCL\)](https://github.com/pointcloudlibrary/pcl) revision pcl-1.7.0, a standalone, large scale, open project for 2D/3D image and point cloud processing.
* [Octomap](https://github.com/OctoMap/octomap.git), a probabilistic 3D mapping framework based on octrees.
* [OpenCV](https://opencv.org/) -- Open Source Computer Vision Library.
* [Eigen](https://eigen.tuxfamily.org/dox-devel/index.html), a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.
#### How To Compile
1. Create folders: TODO: add complete list of apt install packages
``` ```
mkdir -p ~/aicp_base/git/ ~/aicp_base/catkin_ws/src sudo apt-get install libpointmatcher-dev libpointmatcher1
``` ```
2. Set-up catkin workspace: #### How To Compile
```
source /opt/ros/melodic/setup.bash
cd ~/aicp_base/catkin_ws
catkin init
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
```
3. Clone and compile source code: The code is cloned and built in the standard manner for a ROS package.
``` Tips:
cd ~/aicp_base/git * We currently support ROS Melodic / Ubuntu 18.04. The code is also compatiable with ROS Kinetic / Ubuntu 16.04.
git clone git@github.com:ori-drs/aicp.git * Configure your workspace to be in Release mode:
ln -s ~/aicp_base/git/* ~/aicp_base/catkin_ws/src
cd ~/aicp_base/catkin_ws ```
catkin build aicp_ros catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
``` ```
#### How To Run #### How To Run
...@@ -129,8 +109,18 @@ To filter an ANYmal rosbag to contain only the required topics ...@@ -129,8 +109,18 @@ To filter an ANYmal rosbag to contain only the required topics
* rosbag filter in.bag out.bag "topic=='/tf' or topic=='/state_estimator/pose_in_odom' or topic=='/point_cloud_filter/velodyne/point_cloud_filtered' or topic=='/tf_static'" * rosbag filter in.bag out.bag "topic=='/tf' or topic=='/state_estimator/pose_in_odom' or topic=='/point_cloud_filter/velodyne/point_cloud_filtered' or topic=='/tf_static'"
#### Main dependencies
* [libpointmatcher](https://github.com/ethz-asl/libpointmatcher.git), a modular library implementing the Iterative Closest Point \(ICP\) algorithm for aligning point clouds.
* [Point Cloud Library \(PCL\)](https://github.com/pointcloudlibrary/pcl) revision pcl-1.7.0, a standalone, large scale, open project for 2D/3D image and point cloud processing.
* [Octomap](https://github.com/OctoMap/octomap.git), a probabilistic 3D mapping framework based on octrees.
* [OpenCV](https://opencv.org/) -- Open Source Computer Vision Library.
* [Eigen](https://eigen.tuxfamily.org/dox-devel/index.html), a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.
***
### Credits ### Credits
......
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