Ubuntu20.04 Kimera Semantic运行记录

Ubuntu20.04 Kimera Semantic 官方bag运行记录

以下基本为官方教程，有部分修改

依赖

sudo apt-get install python3-wstool python3-catkin-tools  protobuf-compiler autoconf
sudo apt-get install ros-noetic-cmake-modules

sudo apt-get install ros-noetic-image-proc
sudo apt-get install ros-noetic-depth-image-proc

Kimera-Semantics Installation

# Setup catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin init
catkin config --extend /opt/ros/noetic # Change `melodic` to your ROS distro
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin config --merge-devel

# Add workspace to bashrc.
echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc

# Clone repo 选择了feature/noetic_fixes分支
cd ~/catkin_ws/src
git clone https://github.com/MIT-SPARK/Kimera-Semantics.git --branch feature/noetic_fixes

# Install dependencies from rosinstall file using wstool
wstool init # Use unless wstool is already initialized

# Optionally add Kimera-Semantics to the rosinstall file
# wstool scrape

# For ssh:
#wstool merge Kimera-Semantics/install/kimera_semantics_ssh.rosinstall
# For https: 选择了这个
wstool merge Kimera-Semantics/install/kimera_semantics_https.rosinstall

# Download and update all dependencies
wstool update

编译

# Compile code
catkin build kimera_semantics_ros

# Refresh workspace
source ~/catkin_ws/devel/setup.bash

测试运行

三个终端分别运行，记得source和下载官方bag

roscore
roslaunch kimera_semantics_ros kimera_semantics.launch play_bag:=true
rviz -d $(rospack find kimera_semantics_ros)/rviz/kimera_semantics_gt.rviz

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实际环境测试进行中。。。