Updated instructions for Noetic. Please see original repo for original instructions.
This installation guide was tested with Noetic on Ubuntu 20.04
sudo apt update && sudo apt install liblapack-dev libblas-dev git python3-catkin-tools python3-vcstool -y
First, we need to create a catkin workspace for UltimateSLAM and initialize it:
mkdir -p ~/uslam_ws/src && cd ~/uslam_ws
catkin init
Make sure you have ROS sourced and continue:
catkin config --extend /opt/ros/$ROS_DISTRO --cmake-args -DCMAKE_BUILD_TYPE=Release
Clone the UltimateSLAM repository and run vcstool to automatically import the dependencies:
cd src/
git clone http://github.com/discoimp/rpg_ultimate_slam_open.git
vcs-import < rpg_ultimate_slam_open/dependencies.yaml
Finally, build UltimateSLAM:
catkin build ze_vio_ceres
This will take some time (a couple of minutes at least). In case of errors, see the Troubleshooting section below.
If building succeeds, congrats! You have installed UltimateSLAM. Your next step will be to run some examples to test your setup.