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Installation

Thomas Schneider edited this page Jun 2, 2014 · 38 revisions

Two sources for the toolbox are provided. Altough it is possible to use the CDE package to get the toolbox running we recommend to build the package from source using catkin (ROS build-system) as some of the tools will only work with a native ROS installation

  • building from source
    Depends on a working installation of ROS hydro with a catkin workspace. Binaries will run faster than with the CDE package and all tools can be used.

  • CDE package
    Using this package is the easiest way to get the toolbox working. All dependencies are packed within this package so no external dependencies need to be installed. Some tools will not work with this package (validator and focus tool)

##A) Using the CDE package (only 64bit) To remove necessity of building the toolbox from source, the entire toolbox together with its dependencies is packed into a CDE package.

Download the package [here]

##B) Building from source The source build has been tested on Ubuntu 12.10 with ROS hydro.

  1. Install ROS hydro
    see ros.org for more information

    Example for ubuntu-quantal and ROS hydro below:

    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu quantal main" > /etc/apt/sources.list.d/ros-latest.list
    wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
    sudo apt-get update
    sudo apt-get install ros-hydro-desktop python-rosdistro python-rosdep python-rosinstall python-rosinstall-generator python-bloom python-rosinstall python-rosdep -y
    rosdep init
    rosdep update

  2. Install the following dependencies:

    sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-hydro-vision-opencv ros-hydro-image-transport-plugins ros-hydro-cmake-modules python-software-properties software-properties-common libpoco-dev python-matplotlib python-git python-pip ipython libtbb-dev libblas-dev liblapack-dev

    sudo pip install python-igraph --upgrade

  3. Create a catkin workspace

    mkdir -p ~/kalibr_workspace/src
    cd ~/kalibr_workspace/src
    source /opt/ros/hydro/setup.bash
    catkin_init_workspace

  4. Clone the source repo into the catkin workspace src folder

    cd ~/kalibr_workspace/src
    git clone https://github.com/ethz-asl/Kalibr.git

  5. Build the code using the Release target. Maybe grab a coffee, this will take a while...
    depending on the available memory, you might need to reduce the build threads (e.g. add -j2 to catkin_make)

    cd ~/kalibr_workspace
    catkin_make -DCMAKE_BUILD_TYPE=Release -j4

  6. Once the build is finished you have to source the workspaces setup to use Kalibr

    source ~/kalibr_workspace/devel/setup.bash

References

Please cite the appropriate papers when using this library or parts of it in an academic publication.

  1. Philip J. Guo. (2011). CDE: Run Any Linux Application On-Demand Without Installation. USENIX Large Installation System Administration Conference (LISA). homepage