Installation

Requirements

Eigen3

Make sure you have the Eigen3-headers in your include path. This is usually automatically the case if you have ROS installed.

GTSAM

We install the GTSAM fork of RSL from source. We recommend a local installation of GTSAM.

  • Version: GTSAM on branch gtsam_rsl.

  • This version has already the latest bug fixes of the CombinedImuFactor. For more information we refer to this issue.

  • Clone and checkout at an arbitrary location.

git clone https://github.com/leggedrobotics/gtsam_fork
cd gtsam_fork
git checkout gtsam_rsl
mkdir build && cd build

  • Use CMake with the following options. Note that -DCMAKE_INSTALL_PREFIX:PATH=$HOME/.local specifies the location where GTSAM is installed to and can be individually adapted. This flag can also be removed, leading to a global installation.

cmake -DCMAKE_INSTALL_PREFIX:PATH=$HOME/.local -DCMAKE_BUILD_TYPE=Release -DGTSAM_POSE3_EXPMAP=ON -DGTSAM_ROT3_EXPMAP=ON -DGTSAM_USE_QUATERNIONS=ON -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..

  • Compile and install locally:

make install -j$(nproc)

  • Environment variables (e.g. add to your .bashrc-file):

export CMAKE_PREFIX_PATH=$HOME/.local/:$CMAKE_PREFIX_PATH
export LD_LIBRARY_PATH=$HOME/.local/lib/:$LD_LIBRARY_PATH
export LIBRARY_PATH=${LIBRARY_PATH}:${LD_LIBRARY_PATH}

This is usually only needed if you you choose a non-standard (local) install directory.

graph_msf

Workspace

GraphMsf only has two main dependencies: Eigen3 and GTSAM. These were installed in the last step. For compiling graph_msf create a workspace and set it to Release-mode.

mkdir catkin_ws
mkdir src
catkin init
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
cd src && git clone https://github.com/leggedrobotics/graph_msf_dev.git

Compiling

Now the library then can be compiled using:

catkin build graph_msf

graph_msf_ros

In contrast to graph_msf this package also depends on standard ROS dependencies. We tested the framework with ROS Noetic on Ubuntu 20.04. For compiling the code run:

catkin build graph_msf_ros