gcjyzdd / Install-ProbAnch-Ubuntu18

Install ProbAnch

This project shows how to install ProbAnch on Ubuntu 18.04.

ProbAnch has 19 packages shown below:

traversing 19 packages in topological order:
- iai_kinect2 (metapackage)
- console
- anchor_msgs
- database
- hand_tracking
- kinect2_registration
- ml
- features
- object_classification
- reasoning
- feature_extraction
- kinect2_bridge
- kinect2_calibration
- kinect2_viewer
- anchoring
- ar_transform
- object_tracking
- display
- object_segmentation

Follow the below instructions to install dependencies one-by-one.

To develop/debug the project, it's recommended to use Visual Studio Code and install the ROS extension.

Install ros and libfreenect2

Follow installAnchoring.md.

Now that ros has been installed, we can put ProbAnch under a catkin workspace:

mkdir -P ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/probabilistic-anchoring/probanch.git
git submodule update --recursive --init

Run catkin_make and it will try to build all packages and fail.

Run catkin_make --only-pkg-with-deps <package_name> and it will only build package package_name. Use this command to process package one-by-one if the project has too many dependencies.

Install databse

Follow database.md.

Install object classification

Follow object_classification.md

Install reasoning

Follow reasoning.md

Final Build

cd ~/catkin_ws
catkin_make

Tests

The following command should work:

cd src/anchoring/perception/object_segmentation/launch
roslaunch object_segmentation object_segmentation_tf_static.launch
# or try this
roslaunch object_segmentation object_calibration.launch