TagSLAM root repository
Use this repository to get a complete ROS/catkin workspace with all dependencies for the TagSLAM project.
This repository relies heavily on git submodules.
Installation instructions
Since this is ROS package, you will need to install ROS. This repo has been tested on Ubuntu 16.04 (ROS Kinetic) and Ubuntu 18.04 (ROS Melodic). On top of it, install the catkin tools:
sudo apt install python-catkin-tools
TagSLAM's backend is based on GTSAM, so you will need to add a PPA.
If you previously installed GTSAM, you need to first remove the older version:
sudo apt remove gtsam
sudo add-apt-repository --remove ppa:bernd-pfrommer/gtsam
Now add the new repo and install the new version of GTSAM:
sudo apt-add-repository ppa:bernd-pfrommer/libgtsam
sudo apt update
sudo apt install libgtsam-unstable4 libgtsam4 libgtsam-dev libgtsam-unstable-dev
Clone the full repo including all submodules, into a a new catkin
workspace (tagslam_root):
cd ~
git clone --recursive https://github.com/berndpfrommer/tagslam_root.git
Configure and compile:
cd ~/tagslam_root
catkin config -DCMAKE_BUILD_TYPE=Release
catkin build
Quick test
Overlay the newly created workspace and run a quick test:
source ~/tagslam_root/devel/setup.bash
roslaunch tagslam tagslam.launch bag:=`rospack find tagslam`/example/example.bag
(the rosnode will not exit, so you have to Ctrl-C out of it)