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Building and Installing the royale-ros Package

royale-ros is a wrapper around pmd's Royale SDK. To that end, the Royale SDK needs to be installed on your system. Due to licensing concerns, you will need to acquire the Royale software directly from pmd. Here is a link to their software download page (password protected -- contact pmd directly for a customer password). Once you have acquired the binary SDK (typically in a file called libroyale.zip), you can either install it according to the instructions provided with it, or follow our instructions which allow you to integrate it with your package manager (assuming you are on a Debian-based system like Ubuntu). Once you have installed Royale, continue on with the instructions below to build and install royale-ros.

royale-ros is distributed as a catkin package. If you are already comfortable with catkin, you should be able to install it in the usual way. You will not have to read any further. If you would like step-by-step instructions for one plausible way of using catkin to install royale-ros, please keep reading.

Step-by-Step catkin build and installation instructions

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 ~/.bash_profile:

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/royale-ros.git

We now have the code in ~/dev/royale-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 royale
$ cd royale
$ mkdir src
$ cd src
$ catkin_init_workspace
$ ln -s ~/dev/royale-ros royale

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

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

[ ~/catkin/royale/src ]
tpanzarella@tuna: $ ls -l
total 0
lrwxrwxrwx 1 tpanzarella tpanzarella 50 Jul 21 11:36 CMakeLists.txt -> /opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
lrwxrwxrwx 1 tpanzarella tpanzarella 33 Jul 21 11:37 royale -> /home/tpanzarella/dev/royale-ros/

Now we are ready to build the code.

$ cd ~/catkin/royale
$ catkin_make
$ catkin_make -DCMAKE_INSTALL_PREFIX=${LPR_ROS}/royale install

The ROS package should now be installed in ~/ros/royale. To test everything out (assuming you have your camera plugged in) you should open a fresh bash shell, and start up a ROS core:

    $ roscore

Open another shell and start the camera node:

    $ roslaunch royale_ros camera.launch

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

    $ roslaunch royale_ros rviz.launch

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

rviz1

Congratulations! You can now utilize royale-ros.