update so that the package can find ros libg2o

koide3 · Oct 18, 2018 · 027cfd2 · 027cfd2
1 parent 5e0e0cf
commit 027cfd2
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Showing 5 changed files with 37 additions and 33 deletions.
diff --git a/README.md b/README.md
@@ -65,20 +65,6 @@ All the parameters are listed in *launch/hdl_graph_slam.launch* as ros params.
 - g2o
 - suitesparse
 
-Note that ***hdl_graph_slam*** cannot be built with older g2o libraries (such as ros-indigo-libg2o). ~~Install the latest g2o:~~
-The latest g2o causes segfault. Use commit *a48ff8c42136f18fbe215b02bfeca48fa0c67507* instead of the latest one:
-
-```bash
-sudo apt-get install libsuitesparse-dev
-git clone https://github.com/RainerKuemmerle/g2o.git
-cd g2o
-git checkout a48ff8c42136f18fbe215b02bfeca48fa0c67507
-mkdir build && cd build
-cmake .. -DCMAKE_BUILD_TYPE=RELEASE
-make -j8
-sudo make install
-```
-
 The following ROS packages are required:
 - geodesy
 - nmea_msgs
@@ -88,12 +74,27 @@ The following ROS packages are required:
 # for indigo
 sudo apt-get install ros-indigo-geodesy ros-indigo-pcl_ros ros-indigo-nmea-msgs
 # for kinetic
-sudo apt-get install ros-kinetic-geodesy ros-kinetic-pcl_ros ros-kinetic-nmea-msgs
+sudo apt-get install ros-kinetic-geodesy ros-kinetic-pcl_ros ros-kinetic-nmea-msgs ros-kinetic-libg2o
 
 cd catkin_ws/src
 git clone https://github.com/koide3/ndt_omp.git
 ```
 
+In case use are using ros indigo, note that ***hdl_graph_slam*** cannot be built with ros-indigo-libg2o. ~~Install the latest g2o:~~
+The latest g2o causes segfault. Use commit *a48ff8c42136f18fbe215b02bfeca48fa0c67507* instead of the latest one:
+
+```bash
+sudo apt-get install libsuitesparse-dev
+git clone https://github.com/RainerKuemmerle/g2o.git
+cd g2o
+git checkout a48ff8c42136f18fbe215b02bfeca48fa0c67507
+mkdir build && cd build
+cmake .. -DCMAKE_BUILD_TYPE=RELEASE
+make -j8
+sudo make install
+```
+
+
 **[optional]** *bag_player.py* script requires ProgressBar2.
 ```bash
 sudo pip install ProgressBar2
@@ -172,6 +173,11 @@ rosrun hdl_graph_slam bag_player.py dataset-2.bag
 
 <img src="imgs/ford1.png" height="200pix"/> <img src="imgs/ford2.png" height="200pix"/> <img src="imgs/ford3.png" height="200pix"/>
 
+
+## Adapt the package to a new sensor
+
+
+
 ## Common Problems
 
 ### hdl_graph_slam_nodelet causes memory error

diff --git a/cmake/FindG2O.cmake b/cmake/FindG2O.cmake
@@ -9,6 +9,7 @@ FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h
   /opt/local/include
   /sw/local/include
   /sw/include
+  /opt/ros/$ENV{ROS_DISTRO}/include
   NO_DEFAULT_PATH
   )
 
@@ -25,6 +26,7 @@ MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)
     ${G2O_ROOT}/lib
     $ENV{G2O_ROOT}/lib/Debug
     $ENV{G2O_ROOT}/lib
+    /opt/ros/$ENV{ROS_DISTRO}/lib
     NO_DEFAULT_PATH
     )
 
@@ -49,6 +51,7 @@ MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)
     ${G2O_ROOT}/lib
     $ENV{G2O_ROOT}/lib/Release
     $ENV{G2O_ROOT}/lib
+    /opt/ros/$ENV{ROS_DISTRO}/lib
     NO_DEFAULT_PATH
     )
 

diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -1,34 +1,23 @@
 FROM ros:kinetic
 
+RUN apt-get update
 RUN apt-get update
 RUN apt-get install -y
 RUN apt-get install -y wget nano build-essential
-RUN apt-get install -y ros-kinetic-geodesy ros-kinetic-pcl-ros ros-kinetic-nmea-msgs
-
-
-WORKDIR /root
-RUN git clone https://github.com/koide3/g2o.git
-WORKDIR /root/g2o
-RUN git checkout hdl_graph_slam
-WORKDIR /root/g2o/build
-RUN mkdir build
-RUN cmake .. -DCMAKE_BUILD_TYPE=RELEASE
-RUN make -j$(grep -c ^processor /proc/cpuinfo)
-RUN make install
+RUN apt-get install -y python-pip
+RUN apt-get install -y ros-kinetic-geodesy ros-kinetic-pcl-ros ros-kinetic-nmea-msgs ros-kinetic-rviz ros-kinetic-tf-conversions
+RUN apt-get install -y ros-kinetic-libg2o
 
+RUN echo te
 RUN mkdir -p /root/catkin_ws/src
 WORKDIR /root/catkin_ws/src
 RUN /bin/bash -c '. /opt/ros/kinetic/setup.bash; catkin_init_workspace'
 RUN git clone https://github.com/koide3/ndt_omp.git
 RUN git clone https://github.com/koide3/hdl_graph_slam.git
 
-RUN apt-get install -y python-pip
-RUN apt-get install -y ros-kinetic-rviz 
-RUN apt-get install -y ros-kinetic-tf-conversions
-
 WORKDIR /root/catkin_ws
-RUN /bin/bash -c '. /opt/ros/kinetic/setup.bash; catkin_make'
-RUN sed -i "6i source \"/root/catkin_ws/devel/setup.bash\"" /ros_entrypoint.sh
+# RUN /bin/bash -c '. /opt/ros/kinetic/setup.bash; catkin_make'
+# RUN sed -i "6i source \"/root/catkin_ws/devel/setup.bash\"" /ros_entrypoint.sh
 
 WORKDIR /
 

diff --git a/launch/hdl_graph_slam_400.launch b/launch/hdl_graph_slam_400.launch
@@ -5,6 +5,9 @@
   <arg name="enable_floor_detection" default="true" />
   <arg name="enable_gps" default="false" />
 
+  <!-- transformation between lidar and base_link -->
+  <node pkg="tf" type="static_transform_publisher" name="lidar2base_publisher" args="0 0 0 0 0 0 base_link velodyne 10" />
+
   <!-- in case you use velodyne_driver, comment out the following line -->
   <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager" output="screen"/>
 

diff --git a/launch/hdl_graph_slam_ford.launch b/launch/hdl_graph_slam_ford.launch
@@ -5,6 +5,9 @@
   <arg name="enable_floor_detection" default="true" />
   <arg name="enable_gps" default="true" />
 
+  <!-- transformation between lidar and base_link -->
+  <node pkg="tf" type="static_transform_publisher" name="lidar2base_publisher" args="0 0 0 0 0 0 base_link velodyne 10" />
+
   <!-- in case you use velodyne_driver, comment out the following line -->
   <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager" output="screen"/>