kimera-semantic编译记录

https://github.com/MIT-SPARK

一、安装依赖

1、sudo apt-get install python-wstool python-catkin-tools  protobuf-compiler autoconf

2、sudo apt-get install ros-melodic-cmake-modules

二、编译工作空间

1、mkdir -p ~/catkin_ws/src

2、cd ~/catkin_ws/

3、catkin init

4、catkin config --extend /opt/ros/melodic # Change `melodic` to your ROS distro

5、catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release

6、catkin config --merge-devel

7、echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc

8、cd ~/catkin_ws/src

9、git clone git@github.com:MIT-SPARK/Kimera-Semantics.git

10、wstool init # Use unless wstool is already initialized

11、wstool merge Kimera-Semantics/kimera/install/kimera_semantics_ssh.rosinstall

12、wstool update

13、catkin build kimera

14、source ~/catkin_ws/devel/setup.bash

三、运行

1、下载数据集https://drive.google.com/file/d/1SG8cfJ6JEfY2PGXcxDPAMYzCcGBEh4Qq/view?usp=sharing，保存到./kimera_semantics_ros/rosbag/kimera_semantics_demo.bag

2、启动ros节点：roscore

3、roslaunch kimera_semantics_ros kimera_semantics.launch play_bag:=true

4、rviz -d $(rospack find kimera_semantics_ros)/rviz/kimera_semantics_gt.rviz

四、非语义运行（使用上面下载的数据集）

1、使用上面下载的数据集

2、启动ros节点：roscore

3、roslaunch kimera_vio_ros kimera_vio_ros_euroc.launch run_stereo_dense:=true

4、roslaunch kimera_semantics_ros kimera_semantics_euroc.launch

5、rosbag play V1_01_easy.bag --clock

6、rviz -d $(rospack find kimera_semantics_ros)/rviz/kimera_semantics_euroc.rviz