How to build rtabmap_ros?

asked 2017-07-10 11:01:17 -0500

Mikhail
1 ●1 ●1 ●1

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

~/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

answered 2017-07-10 13:58:08 -0500

matlabbe

6409 ●11 ●96 ●80

If you modify code in rtabmap_ros package, you don't have to rebuild rtabmap, just redo catkin_make. I think you are meaning:

$ roslaunch rtabmap_ros demo_stereo_outdoor.launch

Note also that obstacles_detection nodelet is not started with demo_stereo_outdoor.launch. However, you should see your printfs added in CoreWrapper. You can copy/paste the terminal output after launching the launch file in your question for more info, normally onInit() printfs would appear at start.

cheers

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@matlabbe, yes, roslaunch, exactly. Please clarify what you mean by catkin_make? I re-read tutorial about it ( http://wiki.ros.org/catkin/Tutorials/... ) and started to suspect that catkin_make is only a first stage, generation of some scripts, and I need some

Mikhail ( 2017-07-10 14:56:32 -0500 )edit

build and/or install command, but still not sure which exactly

Mikhail ( 2017-07-10 14:57:30 -0500 )edit

"catkin_make -DCMAKE_BUILD_TYPE=Release This will build any packages in the source space (~/catkin_ws/src) to the build space (~/catkin_ws/build)." It doesn't look like it build something "Any source files, python libraries, scripts or any other static files will remain in the source space.

Mikhail ( 2017-07-10 14:59:54 -0500 )edit

However, any generated files such as libraries, executables, or generated code will be placed in the devel space" Devel? Then for why to mention build?...

Mikhail ( 2017-07-10 15:00:30 -0500 )edit

catkin_make is used at initialization to setup your workspace. It should be redone every time you change the code to rebuild your nodes. For basic usage, you would never use "catkin_make install", just "catkin_make".

matlabbe ( 2017-07-11 10:23:07 -0500 )edit

See this for a description of the workspaces: http://wiki.ros.org/catkin/workspaces

matlabbe ( 2017-07-11 10:23:22 -0500 )edit

"src" contains your source code. "build" contains the compiled object files. "devel" contains the built binaries/libraries.

matlabbe ( 2017-07-11 10:24:15 -0500 )edit

catkin_make is used at initialization to setup your workspace. It should be redone every time you change the code Such things are what I don't understand. Why only changing of one library (not its external interface, but something simple, say additional printf) requires remake of scripts?...

Mikhail ( 2017-07-11 12:48:42 -0500 )edit

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