matlabbe
commented
4 years ago Hi,
I've taken some time to try rtabmap_ros on Windows. I tested so far without VTK, so without UI. For this example, this commit (rtabmap) and this one (rtabmap_ros) are required.
- Install ROS melodic on Windows following this tutorial: http://wiki.ros.org/Installation/Windows
- From inside a ROS configured command window (see tutorial above), git clone rtabmap, then build without GUI support (there is a missing VTK issue when pcl_visualization module is trying to find it):
$ cd rtabmap/build $ cmake -DWITH_QT=OFF -DCMAKE_INSTALL_PREFIX=C:\opt\rosdeps\x64 .. $ cmake --build . --config Release --target installI install rtabmap in default rosdep binaries path for convenience.
- git clone rtabmap_ros in your catkin workspace src folder.
- catkin_make
Open Issues:
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I see that you've built rtabmap with VTK support, is the standalone RTABMap.exe generated by the rtabmap library (not rtabmap_ros) working? I tried VTK6.3 but the Qt5 version installed with ROS is missing some libraries. I may try VTK8 as you, but I want to know if RTABMap.exe is not crashing at start. Not sure to which VTK version the pcl_visualization library is linked on. We should use the same one, otherwise rtabmap GUI would crash (and rtabmapviz on ROS).
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The
Library limit of 65535 objects exceededis fixed by the second commit I referred. As you did, we should add/bigobjcompilation flag, and forrtabmap_sync, I needed to reduce the number of functions compiled with the two new build options (both default to false on Windows). -
demo_mapping.bag is not working on Windows, because images in the bag are
compressedDepthformat.It seems that the ROS windows binaries don't contain the... actually it does have the plugin by default, but it is failing the conversion because the rosbag send a slightly different format than expected (maybe the bag is too old).compressedDepthplugin- EDIT: I've found a workaround. git clone image_transport_plugins in your catkin workspace, modify this line from
"compressedDepth png"to"compressedDepth"and rebuild. The mapping demo using rviz should now work as expected:$ roslaunch rtabmap_ros demo_robot_mapping.launch rviz:=true rtabmapviz:=false $ rosbag play --clock demo_mapping.bag
- EDIT: I've found a workaround. git clone image_transport_plugins in your catkin workspace, modify this line from
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I didn't test with a camera (like Kinect), as there are no prebuilt binaries for cameras in ROS for windows. We would have to build from source openni2_launch, openni_launch or freenect_launch to try a Kinect camera for example. Not sure about realsense package on ROS if they work on Windows.
uchuuengineer
I am trying to build RTABMap ROS for ROS Melodic on Windows, but a library limit error seems to be the cause of my problems. I think I managed to make this error go away temporarily by adding /bigobj flags in CmakeLists.txt, but then I just run into a problem when I'm 89% done with compilation that says "don't know how to make 'C:\ws\rtabmap_ros\devel\lib\rtabmap_sync.lib'." I suspect it is because I was improperly dealing with this library limit error and after trying for about two weeks, I can't seem to fix it. I linked the original library limit error I got below. I appreciate any help you can give me.