Installation on Ubuntu

Installing voxblox++ on Ubuntu 16.04 or 18.04

Prerequisites

Install ROS following the instructions at the ROS installation page. The full install (ros-kinetic-desktop-full, ros-melodic-desktop-full) are recommended.

Make sure to source your ROS setup.bash script by following the instructions on the ROS installation page.

Required

• CMake 3.8 or later

Install voxblox++

In your terminal, define the installed ROS version and name of the catkin workspace to use:

export ROS_VERSION=kinetic # (Ubuntu 16.04: kinetic, Ubuntu 18.04: melodic)
export CATKIN_WS=~/catkin_ws

If you don't have a catkin workspace yet, create a new one:

mkdir -p $CATKIN_WS/src && cd $CATKIN_WS
catkin init
catkin config --extend /opt/ros/$ROS_VERSION --merge-devel 
catkin config --cmake-args -DCMAKE_CXX_STANDARD=14 -DCMAKE_BUILD_TYPE=Release
wstool init src

Clone the voxblox_plusplus repository over HTTPS (no Github account required):

cd $CATKIN_WS/src
git clone --recurse-submodules git@github.com:ethz-asl/voxblox_gsm.git

Alternatively, clone over SSH (Github account required):

cd $CATKIN_WS/src
git clone --recurse-submodules git@github.com:ethz-asl/voxblox_gsm.git

Automatically fetch dependencies:

wstool merge -t . voxblox_gsm/dependencies.rosinstall
wstool update

Build the voxblox++ packages:

catkin build gsm_node