This repository contains ROS wrappers for the V4R library.
IMPORTANT: This repository is a ROS wrapper only and shall therefore only include ROS interfaces (service calls, test nodes, visualizations, etc.) to objects / functions defined in the V4R library (e.g. by deriving from classes defined in the V4R library). Please do not commit any essential code into this repository - this should go directly into V4R library (so that people can use it also without ROS). This also means that external dependencies should already be resolved by the V4R library.
As a convention, please create seperate folders for service/message definitions (e.g. do not put your *.cpp/*.hpp files together with *.msg/*.srv).
simply install sudo apt-get install ros-indigo-v4r-ros-wrappers after enabling the STRANDS repositories.
Make sure you install V4R first.
Clone v4r_ros_wrappers into your catkin workspace:
cd my_catkin_ws/src
git clone https://github.com/strands-project/v4r_ros_wrappers.git
cd ..
Then call catkin_make once. You might get an error regarding V4RModules.cmake. This is easy to fix:
cd my_catkin_ws/build
ccmake ../src
Locate the option V4R_DIR and set it, according to where you build/installed V4R library, e.g.:
V4R_DIR /home/somewhere/v4r/build
Then call catkin again, and all should now compile fine.
A tutorial has been given at the LAMoR summer school.
A GPU (best: NVIDIA) is required for many components. For this to work, the user running the software needs to be allowed to access the X server. The easiest (but very insecure in a not secured network) way to achieve this is to allow access for all users via DISPLAY=:0 sudo xhost +.
Alternatively, SIFT can be computed using the non-free library of OpenCV. In this case, link the v4r and v4r_ros_wrappers libraries to the right OpenCV library.