This is for testing rgbd slam in ros kinetic in xenial
PART 1 : SETTING UP WORKSPACE
Create a rgbd workspace : mkdir rgbd
Then go into the folder : cd rgbd
Create a source folder : mkdir src
Go into source folder : cd src
Cloning into rgbd workspace src folder : git clone https://github.com/felixendres/rgbdslam_v2
Other clones i did (optional) : g2o , cvpr-tools/cvpr-cuda (vision.tum), pcl-pcl-1.8.0 , ptam-wrapper , rgbd_benchmark
Now export the ros package path :export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:pwd
Go back to workspace directory : cd..
Source the rosdistro files: source /opt/ros/kinetic/setup.bash
Initiate catkin : catkin init
Build workspace : catkin build
Update rosdep : update rosdep
Rosmake the package : rosmake rgbdslam
Source setup file : source devel/setup.bash
PART 2 : TESTING
install cython : sudo apt-get install cython
go to test folder : cd src/rgbdslam_v2-kinetic/test
There is a readme file that provides further information of the steps ahead