You can install all the dependencies on *buntu using:
sudo apt install libgoogle-glog-dev libgflags-dev liblua5.1-0-dev
To set up the pre-commit and pre-push hooks that verify changes are able to build locally, run
scripts/setup_hooks.sh
from inside the root of the repo.
- Add the project directory to
ROS_PACKAGE_PATH
:(Replaceexport ROS_PACKAGE_PATH=MYDIRECTORY:$ROS_PACKAGE_PATH
MYDIRECTORY
with the actual directory) You can also add this to your~/.bashrc
file so that you don't have to do this every time you open a new terminal. - Run
git submodule update --init --recursive
to pull all the submodules. - Build the program (do not run
cmake
,catkin_make
,rosbuild
):Optionally, to compile on all cores (make sure you have sufficient RAM!)make
make -j
Run ./bin/simulator
The simulator laser scans to the /laser
topic, odometry messages to /odom
,
and visualization messages to /simulator_visualization
. It listens to motion
commands on /ackermann_drive
, and location initialization messages on
/initialpose
.
Run rosrun rviz rviz -d visualization.rviz