ED is a 3D geometric, object-based world representation for robots.
cd <your_catkin_workspace>/src
git clone https://github.com/tue-robotics/ed_core.git
git clone https://github.com/tue-robotics/tue_filesystem
git clone https://github.com/tue-robotics/geolib2
git clone https://github.com/tue-robotics/code_profiler
git clone https://github.com/tue-robotics/tue_config.git
You will also need the following system dependencies:
sudo apt-get install ros-indigo-class-loader
This should be sufficient to successfully compile the ED_CORE:
cd <your_catkin_workspace>
catkin_make
ED strongly relies on plugins to integrate sensor data, estimate object positions, recognize objects, etc. Before you can start ED, you have to specify the location of these plugins using the environment variable ED_PLUGIN_PATH. For example, for a ROS Catkin workspace, the variable should be set to something like:
export ED_PLUGIN_PATH=<your_catkin_workspace>/devel/lib
You can provide multiple paths by seperating them using ':'.
You can then start ED by running:
rosrun ed_core ed
You can specify a configuration file for ED as a command line argument. Some example configuration files are in examples/config.