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Building and Installing the ifm3d-ros Package

Prerequisites

  1. Ubuntu 16.04 LTS
  2. ROS Kinetic - we recommend ros-kinetic-desktop-full.
  3. ifm3d - version >= 0.9.0

or

  1. Ubuntu 18.04 LTS
  2. ROS Melodic - we recommend ros-melodic-desktop-full.
  3. ifm3d - version >= 0.9.2

Step-by-Step Build Instructions

Step-by-step instructions on getting a fresh installation of Ubuntu and ROS prepared for usage with ifm3d-ros is available at the following links:

Building and installing ifm3d-ros is accomplished by utilizing the ROS catkin tool. There are many tutorials and other pieces of advice available on-line advising how to most effectively utilize catkin. However, the basic idea is to provide a clean separation between your source code repository and your build and runtime environments. The instructions that now follow represent how we choose to use catkin to build and permanently install a ROS package from source.

First, we need to decide where we want our software to ultimately be installed. For purposes of this document, we will assume that we will install our ROS packages at ~/ros. For convenience, we add the following to our ~/.bashrc:

NOTE: Below we assume kinetic. Adapting to melodic is left as an exercise for the reader.

if [ -f /opt/ros/kinetic/setup.bash ]; then
  source /opt/ros/kinetic/setup.bash
fi

cd ${HOME}

export LPR_ROS=${HOME}/ros

if [ -d ${LPR_ROS} ]; then
    for i in $(ls ${LPR_ROS}); do
        if [ -d ${LPR_ROS}/${i} ]; then
            if [ -f ${LPR_ROS}/${i}/setup.bash ]; then
                source ${LPR_ROS}/${i}/setup.bash --extend
            fi
        fi
    done
fi

Next, we need to get the code from github. We assume we keep all of our git repositories in ~/dev.

$ cd ~/dev
$ git clone https://github.com/lovepark/ifm3d-ros.git

We now have the code in ~/dev/ifm3d-ros. Next, we want to create a catkin workspace that we can use to build and install that code from. It is the catkin philosophy that we do not do this directly in the source directory.

$ cd ~/catkin
$ mkdir ifm3d
$ cd ifm3d
$ mkdir src
$ cd src
$ catkin_init_workspace
$ ln -s ~/dev/ifm3d-ros ifm3d

So, you should have a catkin workspace set up to build the ifm3d-ros code that looks basically like:

[ ~/catkin/ifm3d/src ]
tpanzarella@tuna: $ pwd
/home/tpanzarella/catkin/ifm3d/src

[ ~/catkin/ifm3d/src ]
tpanzarella@tuna: $ ls -l
total 0
lrwxrwxrwx 1 tpanzarella tpanzarella 50 Mar 26 15:16 CMakeLists.txt -> /opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
lrwxrwxrwx 1 tpanzarella tpanzarella 31 Mar 26 15:16 ifm3d -> /home/tpanzarella/dev/ifm3d-ros

Now we are ready to build the code.

$ cd ~/catkin/ifm3d
$ catkin_make -DCATKIN_ENABLE_TESTING=ON
$ catkin_make run_tests
$ catkin_make -DCMAKE_INSTALL_PREFIX=${LPR_ROS}/ifm3d install

The ROS package should now be installed in ~/ros/ifm3d. To test everything out you should open a fresh bash shell, and start up a ROS core:

$ roscore

Open another shell and start the primary camera node:

$ roslaunch ifm3d camera.launch

Open another shell and start the rviz node to visualize the data coming from the camera:

$ roslaunch ifm3d rviz.launch

At this point, you should see an rviz window that looks something like:

rviz1

Congratulations! You can now utilize ifm3d-ros.