CMax-SLAM is built upon ROS. The installation instructions of ROS can be found here. We have tested this software on Ubuntu 20.04 and ROS noetic.
Install catkin tools, vcstool:
sudo apt install python3-catkin-tools python3-vcstool
Install additional libraries:
sudo apt install ros-noetic-image-geometry ros-noetic-camera-info-manager ros-noetic-image-view
The GSL library is a scientific library that can be installed with the command:
sudo apt install libgsl-dev
Create a new catkin workspace (e.g., cmax_slam_ws) if needed:
mkdir -p ~/cmax_slam_ws/src && cd ~/cmax_slam_ws/
catkin config --init --mkdirs --extend /opt/ros/noetic --merge-devel --cmake-args -DCMAKE_BUILD_TYPE=Release
Download the source code:
cd ~/cmax_slam_ws/src/
git clone https://github.com/tub-rip/cmax_slam
Clone dependencies:
vcs-import < cmax_slam/dependencies.yaml
Build the ROS package:
cd ~/cmax_slam_ws
catkin build cmax_slam
source devel/setup.bash