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danielgehrig18 edited this page Jan 27, 2021 · 6 revisions

❕ NOTE: Please read this guide if you have to use ROS Melodic.

Installation

If it is not installed on your system yet, please install ROS. Installation instructions can be found here. We tested ESIM with Ubuntu 16.04 and ROS Kinetic. If you have to use ROS Melodic, some specific instructions can be found here.

We recommend to create a new catkin workspace specifically for the simulator as follows:

mkdir -p ~/sim_ws/src && cd ~/sim_ws
catkin init
catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release

Install vcstools if you do not have it already:

sudo apt-get install python-vcstool

Clone this repository and run vcstools:

cd src/
git clone [email protected]:uzh-rpg/rpg_esim.git
vcs-import < rpg_esim/dependencies.yaml

Install pcl_ros:

sudo apt-get install ros-kinetic-pcl-ros
sudo apt-get install libproj-dev

Install glfw:

sudo apt-get install libglfw3 libglfw3-dev

Install glm:

sudo apt-get install libglm-dev

Optionally install the trajectory server:

sudo apt-get install ros-kinetic-hector-trajectory-server

Disable the packages that are not needed:

cd ze_oss
touch imp_3rdparty_cuda_toolkit/CATKIN_IGNORE \
      imp_app_pangolin_example/CATKIN_IGNORE \
      imp_benchmark_aligned_allocator/CATKIN_IGNORE \
      imp_bridge_pangolin/CATKIN_IGNORE \
      imp_cu_core/CATKIN_IGNORE \
      imp_cu_correspondence/CATKIN_IGNORE \
      imp_cu_imgproc/CATKIN_IGNORE \
      imp_ros_rof_denoising/CATKIN_IGNORE \
      imp_tools_cmd/CATKIN_IGNORE \
      ze_data_provider/CATKIN_IGNORE \
      ze_geometry/CATKIN_IGNORE \
      ze_imu/CATKIN_IGNORE \
      ze_trajectory_analysis/CATKIN_IGNORE

Build the event_camera_simulator node:

catkin build esim_ros

Make an alias for your workspace so you can source it easily next time.

echo "source ~/sim_ws/devel/setup.bash" >> ~/setupeventsim.sh
chmod +x ~/setupeventsim.sh

In your .bashrc file, add the following line:

alias ssim='source ~/setupeventsim.sh'

From now on, typing ssim in a terminal will initialize the simulator workspace (you need to run bash first if you want to try this right after editing the .bashrc file.

Testing

Congratulations! At this point you should be all set to try the simulator. Among the multiple rendering engines available, we recommend that you start with the Planar Rendering Engine to check that everything is up and running.

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