How to install `mp2p_icp`:
.. tab-item:: From ROS
Probably the easiest way to get mp2p_icp
:
sudo apt install ros-${ROS_DISTRO}-mp2p-icp
Compile (no ROS)
Clone the project git repository and its submodules:
mkdir -p ~/code/mp2p_icp && cd ~/code/mp2p_icp git clone --recurse-submodules https://github.com/MOLAorg/mp2p_icp.git
- A C++17 compiler
- CMake >=3.4
- MRPT >= 2.11.5
.. tab-item:: Building MRPT from sources
Follow the installation instructions for MRPT
Get from ROS 2
sudo apt install ros-$ROS_DISTRO-mrpt2
Get from PPA
# MRPT, from this PPA, or from its ROS package, or build from sources if preferred: sudo add-apt-repository ppa:joseluisblancoc/mrpt sudo apt update sudo apt install libmrpt-dev mrpt-apps
Classic cmake stuff:
mkdir build-Release cmake -B build-Release -S . -DCMAKE_BUILD_TYPE=Release cmake --build build-Release (cd build-Release && make test) # to run testsCompile (with colcon)
You can build
mp2p_icp
within a ROS 2 workspace using colcon, just as with any other package:mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src git clone --recurse-submodules https://github.com/MOLAorg/mp2p_icp.git cd ~/ros2_ws/ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release . install/setup.bash