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Add dependencies.rosinstall and better installation instructions #20

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ec05958
Add .rosinstall files listing dependency repos
schornakj Feb 22, 2020
ca457da
Add better installation instructions to README.md
schornakj Feb 22, 2020
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40 changes: 37 additions & 3 deletions README.md
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# 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 .
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@gavanderhoorn gavanderhoorn Feb 25, 2020 •
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Suggestion:

mkdir -p ~/catkin_ws
wstool init ~/catkin_ws/src https://raw.githubusercontent.com/ros-industrial/yak_ros/master/yak_ros/dependencies.rosinstall

If ~/catkin_ws/src already exists this may not work, so depending on what sort of audience you are targetting with this documentation, you could stick with your current set of instructions (but then the wstool init . could also fail).

```

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
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4 changes: 4 additions & 0 deletions demo_dependencies.rosinstall
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- git:
local-name: gl_depth_sim
uri: https://github.com/Jmeyer1292/gl_depth_sim.git
version: master
4 changes: 4 additions & 0 deletions dependencies.rosinstall
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- git:
local-name: yak
uri: https://github.com/ros-industrial/yak.git
version: devel