ROS1 (catkin)

If you would like to quickly try out wavemap or if you’re not already using Ubuntu Noetic and ROS1, we recommend running wavemap in Docker. For active wavemap development, it is probably easiest to install wavemap directly on your system.

Docker

If you have not yet installed Docker on your computer, please follow these instructions. We also recommend executing the post-installation steps for Linux, to make Docker available without sudo priviliges.

To build wavemap’s ROS1 Docker image, simply run:

docker build --tag=wavemap_ros1 --pull - <<< $(curl -s https://raw.githubusercontent.com/ethz-asl/wavemap/main/tooling/docker/ros1/incremental.Dockerfile)

This will create a local image on your machine containing the latest version of wavemap. You can give the local image a different name by modifying the --tag=wavemap_ros1 argument. By default, the image will be built using the latest wavemap release. To specify a specific release, such as v1.0.0, add the --build-arg="VERSION=v1.0.0" argument.

There are many ways to work with Docker containers, with different pros and cons depending on the application.

One documented example of how to run wavemap containers with GUI (e.g. Rviz) support is provided in this run_in_docker.sh script. This example should suffice to run all the demos.

Native install

We recommend using ROS Noetic, as installed following the standard instructions.

Make sure these required dependencies are installed:

sudo apt update
sudo apt install git build-essential  # General
sudo apt install python3-rosdep python3-catkin-tools  # ROS

Then create a catkin workspace with:

mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/
source /opt/ros/noetic/setup.sh
catkin init
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release

Next, clone the code for wavemap and its catkin dependencies. We recommend using SSH. Alternatively, HTTPS can be used without requiring keys to be set up.

SSH

cd ~/catkin_ws/src
git clone git@github.com:ethz-asl/wavemap.git

HTTPS

cd ~/catkin_ws/src
git clone https://github.com/ethz-asl/wavemap.git

Make sure rosdep is initialized:

sudo rosdep init

Then install the remaining system dependencies using:

cd ~/catkin_ws/src
rosdep update
rosdep install -y --from-paths . --ignore-src

Build all of wavemap’s packages, including its ROS interface and the Rviz plugin used to visualize its maps, with:

cd ~/catkin_ws/
catkin build wavemap_all

Python (pip)

Demos