All,

I thought I would publish this "how to" to build pcl and related ros libraries on a raspberry pi with a view to running the laserscanmatcher on a pi.

My motivation for this was because I found there were often timing issues when I ran the LSM on the host PC

So here goes:

Installing PCL on Raspberry Pi 2

System Set-up

sudo apt-get update
sudo apt-get install libflann-dev
sudo apt-get install libqt4-dev libvtk5-qt4-dev
sudo apt-get install gsl-bin libgsl0-dev

Ensure swap space is = 2Gb - some of the complilation of PCL uses up a lot of memory (In total takes about 24 hrs on raspberry Pi 2)

First we have to build PCL git clone https://github.com/PointCloudLibrary/pcl.git cd pcl

Edit cmake/pclfindsse.cmake and replace '-march=native' from line (approx) 10 with '-march=armv6 -mfloat-abi=hard -mfpu=vfp

Edit the files below and add this line before the definition is checked for

#define BOOST_LITTLE_ENDIAN

~/pcl/io/include/pcl/io/ply/byte_order.h
~/pcl/common/include/pcl/PCLPointCloud2.h

Then build pcl

mkdir build && cd build
cmake ..
make -j1 (>j1 will fail and given the swap space usage uses up too much bandwidth)
sudo make install

Now we need to make the ros PCL libraries and the scantools package (Which includes laserscanmatcher) into ros working dir (Assuming this is rosws)

pclconversions pclmsgs perceptionpcl scantools

cd ~/ros_ws/src
git clone https://github.com/ros-perception/pcl_conversions.git 
git clone https://github.com/ros-perception/pcl_msgs.git 
git clone https://github.com/ros-perception/perception_pcl.git 
git clone https://github.com/ccny-ros-pkg/scan_tools.git 

Before kicking these off we need to set csm up CSM: csm is a part of the laserscanmatcher can requires a couple of configs to be set first

git clone https://github.com/AndreaCensi/csm.git (I cloned this into a sub directory of scan_tools)

Build csm (catkin will do this but I just found it easier to check it build okay)

You can run the csm build script to do this

./install_quickstart.sh

Update PKGCONFIGPATH to include the path to csm.pc

In my case this was:

export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/home/pi/ros_ws/src/scan_tools/csm/sm/pkg-config

Set up the csm headers - these didn't copy to the right location for me so I did it manually: cp -r ~/rosws/src/scantools/csm/deploy/include/ /home/pi/ros_ws/install/

Finally we're ready to make all the libraries So from top level

catkin_make

If there are problems I suggest building the pcl packaged first then csm and scan_matcher

Hope this finds a use.

Mark

PS thanks to @joq for the help with csm