How to build rtabmap_ros?
I'm trying to change rtabmap functionality a bit (just for start, maybe will develop a separate module later). So I installed ROS kinetic, rtabmap and sources in accordance with https://github.com/introlab/rtabmap_ros . I'm trying to insert printfs into CoreWrapper::onInit() and ObstaclesDetection::onInit() in ~/catkin_ws/src/rtabmap_ros/src/CoreWrapper.cpp and ~/catkin_ws/src/rtabmap_ros/src/nodelets/obstacles_detection.cpp. But when I run
~/RTAB-Map/rtabmap/build$ sudo make install
or
~/catkin_ws$ catkin_make -j1
nothing interesting happen. Make install did something before — rebuilt much more, but now — only
[ 5%] Built target rtabmap_utilite
[ 6%] Built target res_tool
[ 37%] Built target rtabmap_core
[ 80%] Built target rtabmap_gui
[ 82%] Built target rtabmap
…
[ 93%] Built target bow_mapping
[ 95%] Built target rgbd_mapping
[ 98%] Built target wifi_mapping
[100%] Built target noEventsExample
Install the project...
-- Install configuration: "Release"
And that everything is up-to-date.
How should I make my code replacing installed rtabmap_ros and run?
Sorry if a lame question, I am not well versed in ROS, Linux and build systems. Mainly work on Windows in Visual Studio. Fresh Ubuntu 16.04. I run rtabmap_ros by running
demo_stereo_outdoor.launch
and
rosbag play --clock stereo_outdoorA.bag