Build on Jetson JetPack 3 (deprecated)

[matlabbe]

copied here for reference

These instructions are for Jetpack 3 (Ubuntu 16.04 with ROS Kinetic). For Jetpack 4 (Ubuntu 18.04 with ROS Melodic), see this post.

To use rtabmap_ros on Jetson, you can follow the instructions here if you don't care if OpenCV is built for Tegra. However, if you want rtabmap to use OpenCV 4 Tegra, we must re-build vision_opencv stack from source too to avoid conflicts with vision_opencv stack binaries from ros (which are linked on a not optimized version of OpenCV). Here are the steps:

1. Install JetPack with OpenCV on the Jetson.

2. Do steps 1.2 and 1.3 from http://wiki.ros.org/kinetic/Installation/Ubuntu

3. Install non-opencv dependent ros packages:

   • Jetpack 3: sudo apt-get install ros-kinetic-ros-base ros-kinetic-image-transport ros-kinetic-tf ros-kinetic-tf-conversions ros-kinetic-eigen-conversions ros-kinetic-laser-geometry ros-kinetic-pcl-conversions ros-kinetic-pcl-ros ros-kinetic-move-base-msgs ros-kinetic-rviz ros-kinetic-octomap-ros ros-kinetic-move-base libhdf5-openmpi-dev libsuitesparse-dev

4. Do step 1.6 from http://wiki.ros.org/kinetic/Installation/Ubuntu

5. Create your catkin workspace

6. Optional: Install g2o and/or GTSAM dependencies as above (increase visual odometry and graph optimization accuracy).

7. To avoid libGL undefined errors:

   $ cd /usr/lib/aarch64-linux-gnu/
   # Jetpack 3:
   $ sudo ln -sf tegra/libGL.so libGL.so
   # Jetpack 4:
   sudo ln -sf libGL.so.1.0.0 libGL.so
   

8. To avoid libvtkproj4 errors:

   $ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/libvtkproj4.so
   $ sudo ln -s /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/aarch64-linux-gnu/libvtkproj4-6.2.so.6.2.0
   

9. Install RTAB-Map standalone libraries. Add -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel to cmake command below if you want to install in your Catkin's devel folder without sudo. Do not clone in your Catkin workspace.

   $ cd ~
   $ git clone https://github.com/introlab/rtabmap.git rtabmap
   $ cd rtabmap/build
   $ cmake ..  [<---double dots included]
   $ make
   $ sudo make install

10. Clone vision_opencv, image_transport_plugins and rtabmap_ros packages in your catkin_ws:

 $ cd ~/catkin_ws
 $ git clone https://github.com/ros-perception/vision_opencv src/vision_opencv
 $ git clone https://github.com/ros-perception/image_transport_plugins.git src/image_transport_plugins
 $ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
 $ catkin_make -j2