qiangsun89 / coverageactiveslam Goto Github PK

git clone https://github.com/RicheyHuang/CoverageActiveSLAM.git


# Install ROS-Melodic

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-melodic-desktop-full
sudo apt-get install ros-melodic-navigation

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
source /opt/ros/melodic/setup.bash

# Install the required libraries
sudo apt-get update
sudo apt-get install -y \
    clang \
    cmake \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libcurl4-openssl-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libsuitesparse-dev \
    lsb-release \
    ninja-build \
    stow
    
# Install CGAL    
sudo apt-get install libcgal-dev

cd CoverageActiveSLAM/3rd_party

# Build and install abseil
cd abseil-cpp
mkdir build
cd build
cmake -G Ninja \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_INSTALL_PREFIX=../stow/absl \
  ..
ninja
sudo ninja install
cd ../stow
sudo stow absl

cd ../..

# Build and install Ceres.
cd ceres-solver
mkdir build
cd build
cmake .. -G Ninja -DCXX11=ON -DCMAKE_INSTALL_PREFIX=../install
ninja
CTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install

cd ../..

# Build and install proto3.
cd protobuf
mkdir build
cd build
cmake -G Ninja \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_BUILD_TYPE=Release \
  -Dprotobuf_BUILD_TESTS=OFF \
  -DCMAKE_INSTALL_PREFIX=../install \
  ../cmake
ninja
sudo ninja install

cd ../../..

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build stow

# Install gazebo 9
sudo apt-get install gazebo9
sudo apt-get install ros-melodic-gazebo-ros-control
sudo apt-get install ros-melodic-gazebo-ros-pkgs
sudo apt upgrade


source /opt/ros/melodic/setup.bash
cd simulation_stack/src
catkin_init_workspace
cd ..
catkin_make -DCATKIN_WHITELIST_PACKAGES='custom_msgs;custom_srvs'
catkin_make -DCATKIN_WHITELIST_PACKAGES=''

source devel/setup.bash
cd ../slam_stack/src
catkin_init_workspace
cd ..
catkin_make_isolated --install --use-ninja

source install_isolated/setup.bash
cd ../navigation_stack/src
catkin_init_workspace
cd ..
catkin_make

source devel/setup.bash
cd ../settings/src
catkin_init_workspace
cd ..
catkin_make
cd ..

# the order of the chained overlaying workspace: ros-melodic -> simulation_stack -> slam_stack -> navigation_stack -> settings
# use "roscd PACKAGE" to check if a package can be found in current environment

# 1. Enter the root directory of CoverageActiveSLAM
# 2. source the bash file in order
source /opt/ros/melodic/setup.bash
source simulation_stack/devel/setup.bash
source slam_stack/install_isolated/setup.bash
source navigation_stack/devel/setup.bash
source settings/devel/setup.bash
# 3. launch
roscd configuration/launch
roslaunch caslam.launch

# if you want to recompile the packages, remenber to source the bash files above first, for example:

# recompile simulation_stack:
# 1. Enter the root directory of CoverageActiveSLAM
# 2. source the bash file in order
source /opt/ros/melodic/setup.bash
source simulation_stack/devel/setup.bash
source slam_stack/install_isolated/setup.bash
source navigation_stack/devel/setup.bash
source settings/devel/setup.bash
# 3. make:
cd simulation_stack
catkin_make

# recompile navigation_stack:
# 1. Enter the root directory of CoverageActiveSLAM
# 2. source the bash file in order
source /opt/ros/melodic/setup.bash
source simulation_stack/devel/setup.bash
source slam_stack/install_isolated/setup.bash
source navigation_stack/devel/setup.bash
source settings/devel/setup.bash
# 3. make:
cd navigation_stack
catkin_make

# recompile settings:
# 1. Enter the root directory of CoverageActiveSLAM
# 2. source the bash file in order
source /opt/ros/melodic/setup.bash
source simulation_stack/devel/setup.bash
source slam_stack/install_isolated/setup.bash
source navigation_stack/devel/setup.bash
source settings/devel/setup.bash
# 3. make:
cd settings
catkin_make

# recompile slam_stack:
# 1. Enter the root directory of CoverageActiveSLAM
# 2. source the bash file in order
source /opt/ros/melodic/setup.bash
source simulation_stack/devel/setup.bash
source slam_stack/install_isolated/setup.bash
source navigation_stack/devel/setup.bash
source settings/devel/setup.bash
# 3. make:
cd slam_stack
catkin_make_isolated --install --use-ninja