installation.md

Dependencies

Install ROS Noetic (Ubuntu 20.04)

Create a catkin workspace

Create a catkin workspace

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

The code has been tested on ROS Noetic. Depending on the ROS distribution you installed, you might have to use kinetic or melodic instead of noetic in the previous command.

Add packages to the catkin workspace

Clone this repository into the src folder of your catkin workspace.

cd catkin_ws/src
git clone git@github.com:tub-rip/visual_stabilization.git

The catkin package dependencies are:

• catkin simple
• ROS messages for DVS (rpg_dvs_ros)

The above dependencies are specified in the dependencies.yaml file. They can be installed with the following commands from the src folder of your catkin workspace:

cd catkin_ws/src
sudo apt-get install python3-vcstool
vcs-import < visual_stabilization/dependencies.yaml

The previous command should clone the repositories into folders catkin_simple and rpg_dvs_ros inside the src/ folder of your workspace. They should NOT be inside the visual_stabilization folder.

Compiling

Compile this package:

catkin build visual_stabilization

Source your workspace (at least the first time) by running:

source ~/catkin_ws/devel/setup.bash

Sometimes (in case of strange errors) it is useful to delete the build folder before compilation:

rm -rf build/visual_stabilization/