How to update rtabmap to the latest version?

[Raksha]

Hello Mathieu,

I am trying to update rtabmap to a version which has g2o and gtsam optimizers. I "build from source" as explained in https://github.com/introlab/rtabmap_ros. I get error when i run catkin_make -j1.

Or,

how do i install an rtabmap version with gtsam,g2o and vertigo optimizers?

Thanks,
Raksha

[matlabbe]

What is the error?

[Raksha]

[matlabbe]

The error is not rtabmap here. Ceres-solver and cartographer should be built outside catkin workspace.

Cheers,
Mathieu

[Raksha]

getting a different error now.

[Raksha]

[Raksha]

I could solve the compilation error while using catkin_make. Now, i am unable to pull the origin master. Plz help.

[matlabbe]

Hi,
You seem to have both rtabmap built from source and the binaries installed at the same time. Uninstall the binaries:

$ sudo apt-get remove ros-indigo-rtabmap

then redo catkin_make

Cheers,
Mathieu

[Raksha]

How to install https://github.com/introlab/rtabmap/wiki/Robust-Graph-Optimization ? Where is the 0.10.6 version available?

Thanks,
Raksha

[Raksha]

Hi Mathieu,

I have installed v0.10.10. I am unable to choose other optimizers such as GTSAM and G2O. How can i proceed with it?

Thanks,
Raksha

[matlabbe]

Hi,

In the tutorial, I corrected to ">=0.10.6" instead of "0.10.6".

The robust option is enabled only if rtabmap is built with g2o or gtsam. What is the output of your cmake when you build rtabmap standalone library (step 2 from here)?

cheers

[Raksha]

I have G2O and GTSAM in the catkin workspace. How to build rtabmap with them?

[matlabbe]

CMake doesn't detect them. How did you install them? Normally they should not be built in the catkin_ws (they are not ros packages, but standalone libraries), but like a normal cmake build (like building/installing rtabmap standalone library). See also "Optional dependencies" section about g2o and GTSAM for some particularities.

cheers,
Mathieu

[Raksha]

I installed them from https://github.com/RainerKuemmerle/g2o and followed the same procedure that we follow (cmake ..,make -j1) while installing rtabmap.

Regarding optional dependencies, i have followed the same steps as you have mentioned in https://github.com/introlab/rtabmap_ros#build-from-source 

[Raksha]

I installed them from https://github.com/RainerKuemmerle/g2o and followed the same procedure that we follow (cmake ..,make -j1) while installing rtabmap.

Regarding optional dependencies, i have followed the same steps as you have mentioned in https://github.com/introlab/rtabmap_ros#build-from-source 

[matlabbe]

Did you do the "make install" step? There should be a g2o folder in /usr/local/include

[Raksha]

Yes, I did "make install". But, g2o file is not there in the usr/local/include.

[matlabbe]

My computer doesn't have g2o from source installed right now as I am doing some other testing... For gtsam, I have one installed here:

$ ls /usr/local/include/gtsam/
3rdparty  base  config.h  discrete  dllexport.h  geometry  global_includes.h  inference  linear  navigation  nonlinear  sam  slam  symbolic

For g2o, I have the one installed with ROS (replace kinetic by indigo for ros indigo):

$ sudo apt-get install ros-kinetic-libg2o
$ ls /opt/ros/kinetic/include/g2o
apps  config.h  core  examples  solvers  stuff  types

In both cases above, cmake should detect them when building rtabmap.

cheers,
Mathieu

[Raksha]

 

I installed g2o using "$ sudo apt-get install ros-indigo-libg2o". But, still i am not able to get g2o optimiser in the Graph optimisation algorithm.

[matlabbe]

Make sure you are opening the right rtabmap rebuilt. If you can select g2o in graph optimization, the robust option should be enabled and checkable: