Installing viso2 for getting odometry for Kinect SLAM

asked 2013-03-30 21:57:31 -0600

This post is a wiki. Anyone with karma >75 is welcome to improve it.

I'm implementing basic version of 2D SLAM using Xbox Kinect and the following packages

pointcloud_to_laserscan
viso2
gmapping

Fortunately, I was able to install pointcloud_to_laserscan by installing turtlebot, even gmapping is already present, but I found that there is no Wiki for downloading this package http://www.ros.org/wiki/viso2?distro=fuerte (viso2). I search many places to install using .rosinstall way but roslocate is always showing 404 error. I tried to even update roslocate but everything seems to be the same. I followed http://answers.ros.org/question/9201/how-do-i-install-a-missing-ros-package/ (this)answer.

My ROS version is fuerte and it is running in Ubuntu 12.04 Precise.

answered 2013-04-01 06:17:32 -0600

Stephan

1924 ●25 ●42 ●56

updated 2013-04-01 06:22:58 -0600

To install a ROS package for which there is no debian package available, just download the sources somewhere inside your ROS_PACKAGE_PATH and compile it.

As you can see on the wiki page of viso2, the sources for this package are on github: https://github.com/srv/viso2.git

To install the package, just cd into a directory that is in your ROS_PACKAGE_PATH, clone the repo and rosmake:

cd <my_ros_workspace>
git clone https://github.com/srv/viso2.git
rosmake viso2_ros

If you want to use a Kinect for visual odometry I would strongly recommend to use fovis_ros instead of viso2 as it supports RGBD input. The installation is equivalent:

cd <my_ros_workspace>
git clone https://github.com/srv/fovis.git
rosmake viso2_ros

The roslocate calls fail for these packages as they are (not yet) released for groovy. roslocate uses URLs without a tag for the distribution which currently forward to groovy URLs (that don't exist for these packages).

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