How to update rtabmap to the latest version?

[Raksha]

I am able to open rtabmap in multiple locations such as catki, etc. Generally where would the rebuilt version be installed if i have installed rtabmap exactly according to https://github.com/introlab/rtabmap_ros ?

[Raksha]

I am able to open rtabmap in multiple locations such as catki, etc. Generally where would the rebuilt version be installed if i have installed rtabmap exactly according to https://github.com/introlab/rtabmap_ros ?

[matlabbe]

Hi,

If you used "-DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel", it would be installed there, otherwise it is in "/usr/local".

If in cmake WITH_G2O is ON when you do the following:

$ cd rtabmap/build
$ cmake ..
$ make
$ ../bin/rtabmap

When starting rtabmap with the last line, g2o option should be selectable and robust checkbox enabled.

cheers,
Mathieu

[Raksha]

Hello Mathieu,

1. May I know the steps (in detail) to install GTSAM and G2O?

2. Once GTSAM and G2O are installed, I would like to know Installation of rtabmap with vertigo( I would like to know the location of rtabmap which has vertigo in it). I'm very new to ROS. Please help.

Thanks,
Raksha

[Wezza]

Maybe i could help at this point.
Today I've installed ROS and RTABMAP with g2o and gtsam.
I have carried out the following steps:

Install Boost:

sudo apt-get install libboost-all-dev

Source ROS:

source /opt/ros/kinetic/setup.bash
source ~/catkin_ws/devel/setup.bash

Install and remove rtabmap:

sudo apt-get install ros-kinetic-rtabmap ros-kinetic-rtabmap-ros
sudo apt-get remove ros-kinetic-rtabmap ros-kinetic-rtabmap-ros

Install g2o:

sudo apt update
sudo apt install libsuitesparse-dev
git clone -b c++03 https://github.com/felixendres/g2o.git
mkdir g2o/build && cd g2o/build 
cmake .. -DG2O_BUILD_EXAMPLES=OFF
sudo make -j2 install

Install gtsam:

git clone https://bitbucket.org/gtborg/gtsam.git
cd gtsam
mkdir build && cd build
cmake ..
make check
sudo make install

Install RTABMAP from source (Dfreenect2_DIR is the path to my Kinect 2 libs, maybe you have to change or delete it):

cd ~
git clone https://github.com/introlab/rtabmap.git rtabmap
cd rtabmap/build
cmake .. -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel -Dfreenect2_DIR=$HOME/freenect2/lib/cmake/freenect2
make
make install

Install rtabmap_ros:

cd ~/catkin_ws
git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
sudo chmod +777 devel -R
catkin_make

Thats my way to install rtabmap with g2o and gtsam. Maybe there are better or cleaner ways, I am also quite new to ROS. Path to the standalone Version of rtabmap is "/home/YOURUSERNAME/rtabmap" (just enter "rtabmap" in the terminal). rtabmap_ros is in the catkin_ws.

Best regards,
Wezza

[Raksha]

Thanks a lot Wezza! By the way any idea why this error while installing G2O? make -j2 fails.

[matlabbe]

g2o_viewer is not required for rtabmap, so you may just disable apps/tools/examples from the g2o build to see if it can build the library at least.

Thanks Wezza for the details, one small note: as you install rtabmap in the catkin_ws of your home, not /usr/local, you don't need to do "sudo make install", just do "make install":

cd ~
git clone https://github.com/introlab/rtabmap.git rtabmap
cd rtabmap/build
cmake .. -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel
make
make install

cheers,
Mathieu

[Raksha]

1. I installed G2o as well as GTSAM. But, when i do cmake .. -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel. i can view only G2O but not gtsam

2. I am not able to install RTABMAP. I am getting the following error

[Raksha]

[matlabbe]

The errors are about new C++11 interface of latest g2o code. As described in Wezza post, use c++03 branch of this repo:

git clone -b c++03 https://github.com/felixendres/g2o.git

[Raksha]

Thanks a lot Mathieu and Wezza! I could do g2o optimisation and vertigo.