From ec059586a00af864ce09c74e76832634e01bc704 Mon Sep 17 00:00:00 2001 From: Joseph Schornak Date: Sat, 22 Feb 2020 11:09:43 -0600 Subject: [PATCH 1/2] Add .rosinstall files listing dependency repos --- demo_dependencies.rosinstall | 4 ++++ dependencies.rosinstall | 4 ++++ 2 files changed, 8 insertions(+) create mode 100644 demo_dependencies.rosinstall create mode 100644 dependencies.rosinstall diff --git a/demo_dependencies.rosinstall b/demo_dependencies.rosinstall new file mode 100644 index 0000000..9c2a67d --- /dev/null +++ b/demo_dependencies.rosinstall @@ -0,0 +1,4 @@ +- git: + local-name: gl_depth_sim + uri: https://github.com/Jmeyer1292/gl_depth_sim.git + version: master diff --git a/dependencies.rosinstall b/dependencies.rosinstall new file mode 100644 index 0000000..65f26bd --- /dev/null +++ b/dependencies.rosinstall @@ -0,0 +1,4 @@ +- git: + local-name: yak + uri: https://github.com/ros-industrial/yak.git + version: devel From ca457da28f6972741e7cd7cca3f6851ea377ba55 Mon Sep 17 00:00:00 2001 From: Joseph Schornak Date: Sat, 22 Feb 2020 11:59:48 -0600 Subject: [PATCH 2/2] Add better installation instructions to README.md --- README.md | 40 +++++++++++++++++++++++++++++++++++++--- 1 file changed, 37 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index d83b8ef..463743d 100644 --- a/README.md +++ b/README.md @@ -1,14 +1,48 @@ # yak_ros -Example ROS frontend node for [the Yak TSDF package](https://github.com/ros-industrial/yak). +This is an example ROS frontend node for [the Yak TSDF package](https://github.com/ros-industrial/yak). This package depends on Yak, so follow the Yak installation instructions to make sure its prerequisites are satisfied before building `yak_ros`. + +## Installation + +### ROS Melodic + +These instructions assume that you have a ROS1 Catkin workspace at `~/catkin_ws`. Modify as needed to match your environment. + +Download dependendencies that need to be built from source: + +``` +cd ~/catkin_ws/src +git clone https://github.com/ros-industrial/yak_ros.git +wstool init . +wstool merge -t . yak_ros/dependencies.rosinstall +wstool update -t . +``` + +Use Catkin to build the workspace: + +``` +cd ~/catkin_ws +catkin build +source devel/setup.bash +``` + +### ROS2 (Dashing and newer) + +(WIP) ## Demo This package contains a simulated image generator node and a launch file to provide a self-contained demonstration of TSDF reconstruction from streaming depth images. Currently the demo is only supported for ROS1. -The demo depends on [the gl_depth_sim package](https://github.com/Jmeyer1292/gl_depth_sim) to provide simulated depth images. +The demo depends on [the gl_depth_sim package](https://github.com/Jmeyer1292/gl_depth_sim) to provide simulated depth images. Dependencies for the demo are listed separately in `demo_dependencies.rosinstall`. + +``` +cd ~/catkin_ws/src +wstool merge -t . yak_ros/demo_dependencies.rosinstall +wstool update -t . +``` -The demo node depends on external packages that aren't required by the core `yak_ros` node, so compilationo of the demo node is skipped by default. To build the demo, pass the `BUILD_DEMO` flag to catkin as `True`: +The demo node depends on external packages that aren't required by the core `yak_ros` node, so compilation of the demo node is skipped by default. To build the demo, pass the `BUILD_DEMO` flag to catkin as `True`: ``` catkin build --cmake-args -DBUILD_DEMO=True