Installation

We will work under Ubuntu 16.04 and ROS Kinetic

• Jetson or Drive Firmware TODO: add

• ROS/ Kinetic
  Follow the instructions in Kinetic
  Note, you'll need Desktop-Full Install

  Add catkin workspace:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash

• ROS/ velodyne

sudo apt-get install ros-kinetic-velodyne
cd ~/catkin_ws/src/ && git clone https://github.com/ros-drivers/velodyne.git
cd ~/catkin_ws/ && rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
cd ~/catkin_ws/ && catkin_make

Also, see VLP16 tutorial

• ROS/ zed-ros-wrapper Point Cloud Library dependencies:

sudo apt-get install libpcl1
sudo apt-get install ros-kinetic-pcl-ros 

Rviz IMU plugin:

sudo apt-get install ros-kinetic-rviz-imu-plugin

You'll need CUDA 10.0 for Ubuntu for the next step

• will work on PC only if Nvidia GPU is available
• not relevant for Jetson
  Install ZED SDK
  Get the package from Github and put it in your catkin src folder

cd ~/catkin_ws/src
git clone https://github.com/stereolabs/zed-ros-wrapper
cd ~/catkin_ws
catkin_make zed-ros-wrapper
source ./devel/setup.bash