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README.md

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AMRL Graph Navigation

Build Status

System Dependencies

  1. glog
  2. gflags
  3. Lua5.1
  4. LibTorch: Requires the cxx11 ABI version libtorch. Unpack the libtorch zip file to /opt/libtorch.
  5. Optional, if using libtorch with an Nvidia GPU:
    Install both CUDA and CuDNN - these are separate installations.

You can install the system dependencies on *buntu using:

sudo apt install libgoogle-glog-dev libgflags-dev liblua5.1-0-dev

ROS Dependencies

  1. ROS
  2. AMRL Maps
  3. AMRL ROS Messages

Build

  1. Add the project directory to ROS_PACKAGE_PATH:

    export ROS_PACKAGE_PATH=MYDIRECTORY:$ROS_PACKAGE_PATH
    

    (Replace MYDIRECTORY with the actual directory) You can also add this to your ~/.bashrc file so that you don't have to do this every time you open a new terminal.

  2. Run git submodule update --init --recursive to pull all the submodules

  3. Build the program (do not run cmake, catkin_make, rosbuild):

    make
    

    Optionally, to compile on all cores (make sure you have sufficient RAM!)

    make -j
    

Run

Run ./bin/navigation
Some helpful flags:

  • _image_transport:=compressed to tell it to subscribe to the compressed stream of the image transport (useful when playing back a bag file that only included the compressed stream).
  • --debug_images to show debug visualization images.