NOTE: due to lack of time this repo is currently unsupported, meaning issues will be left unaddressed. Sorry!

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This repo has a ROS2 wrapper for the Basalt VIO library. ROS1 is no longer supported. The original Basalt repo is still available under the "deprecated_ros1_ros2" branch.

Supported systems

Continuous integration testing on:

• ROS2 galactic on Ubuntu 20.04 (focal)
• ROS2 humble on Ubuntu 22.04 (jammy)

How to install

Install dependencies

The following apt packages must be installed on top of the ROS2 base image:

sudo apt-get install libbz2-dev
sudo apt-get install ros-humble-ament-cmake-clang-format

Clone this repo

cd top_of_your_workspace
mkdir src  # (if not already there)
git clone https://github.com/berndpfrommer/basalt_ros.git ./src/basalt_ros
# now fetch the dependencies (including the basalt repository etc)
# (this can take a while, patience)
vcs import --recursive < src/basalt_ros/basalt_ros.repos
vcs import --recursive < src/basalt_wrapper/basalt_wrapper.repos

Building

cd top_of_your_workspace
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

If this step fails it is probably because some Ubuntu packages are missing. Just install them one by one until you succeed.

How to use

... to be done ...

License

This software is issued under the Apache License Version 2.0.