installation.md

Installation

EMBA is built upon ROS. The installation instructions of ROS can be found here. We have tested this software on Ubuntu 20.04 and ROS noetic.

Install catkin tools, vcstool:

sudo apt install python3-catkin-tools python3-vcstool

Install additional libraries:

sudo apt install ros-noetic-image-geometry ros-noetic-camera-info-manager ros-noetic-image-view

The Poisson solver used is from this page. It is already copied within this repository. It requires the FFTW library:

sudo apt install libfftw3-dev

Create a new catkin workspace (e.g., emba_ws) if needed:

mkdir -p ~/emba_ws/src && cd ~/emba_ws/
catkin config --init --mkdirs --extend /opt/ros/noetic --merge-devel --cmake-args -DCMAKE_BUILD_TYPE=Release

Download the source code:

cd ~/emba_ws/src/
git clone https://github.com/tub-rip/emba

Clone dependencies:

vcs-import < emba/dependencies.yaml

Build the ROS package:

cd ~/emba_ws
catkin build emba
source devel/setup.bash