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Cleaned Readme and automated installation for host #34

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119 changes: 119 additions & 0 deletions install_deps.sh
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#!/bin/bash

set -e # Exit on any error

# SuperOdometry Dependencies Installation Script
# Place this file at: /ws/src/SuperOdom/install_deps.sh

echo "========================================="
echo "SuperOdometry Dependencies Installer"
echo "========================================="

# Get script directory and create deps folder
SCRIPT_DIR=$(dirname "$(realpath "$0")")
DEPS_DIR="$SCRIPT_DIR/deps"

echo "Creating dependencies directory: $DEPS_DIR"
mkdir -p "$DEPS_DIR"
cd "$DEPS_DIR"

# Update system packages
echo "Updating system packages..."
sudo apt update
sudo apt install -y build-essential cmake git python3-pip \
libboost-all-dev libeigen3-dev libpcl-dev \
pkg-config libgoogle-glog-dev libgflags-dev \
libatlas-base-dev libsuitesparse-dev

# Install Sophus
echo "Installing Sophus..."
if [ ! -d "Sophus" ]; then
echo " Cloning Sophus repository..."
git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout 97e7161
mkdir -p build && cd build
echo " Building Sophus..."
cmake .. -DBUILD_TESTS=OFF
make -j$(nproc)
echo " Installing Sophus..."
sudo make install
cd "$DEPS_DIR"
echo " ✓ Sophus installed successfully"
else
echo " ✓ Sophus already exists, skipping..."
fi

# Install GTSAM
echo "Installing GTSAM..."
if [ ! -d "gtsam" ]; then
echo " Cloning GTSAM repository..."
git clone https://github.com/borglab/gtsam.git
cd gtsam
git checkout 4abef92
mkdir -p build && cd build
echo " Building GTSAM..."
cmake \
-DGTSAM_USE_SYSTEM_EIGEN=ON \
-DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
..
make -j$(nproc)
echo " Installing GTSAM..."
sudo make install
cd "$DEPS_DIR"
echo " ✓ GTSAM installed successfully"
else
echo " ✓ GTSAM already exists, skipping..."
fi

# Install Ceres Solver
echo "Installing Ceres Solver..."
if [ ! -d "ceres-solver" ]; then
echo " Cloning Ceres Solver repository..."
git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
git checkout f68321e7de8929fbcdb95dd42877531e64f72f66
mkdir -p build && cd build
echo " Building Ceres Solver..."
cmake ..
make -j$(nproc)
echo " Installing Ceres Solver..."
sudo make install
cd "$DEPS_DIR"
echo " ✓ Ceres Solver installed successfully"
else
echo " ✓ Ceres Solver already exists, skipping..."
fi

# Install rviz_2d_overlay_plugins
echo "rviz_2d_overlay_plugins..."
if [ ! -d "rviz_2d_overlay_plugins" ]; then
echo " Cloning rviz_2d_overlay_plugins repository..."
git clone https://github.com/teamspatzenhirn/rviz_2d_overlay_plugins.git
echo " ✓rviz_2d_overlay_plugins downloaded successfully"
else
echo " ✓ rviz_2d_overlay_plugins already exists, skipping..."
fi

# Install Python packages
echo "Installing Python packages..."
pip3 install --user rerun-sdk
echo " ✓ Rerun SDK installed successfully"

# Update library cache
echo "Updating library cache..."
sudo ldconfig

echo ""
echo "========================================="
echo "✓ All SuperOdometry dependencies installed successfully!"
echo "========================================="
echo ""
echo "Dependencies installed in: $DEPS_DIR"
echo ""
echo "Please follow instructions to install livox_ros2_driver"
echo "You can now build SuperOdometry using:"
echo " cd ~/ros2_ws"
echo " colcon build --packages-select super_odometry"
echo ""

81 changes: 28 additions & 53 deletions readme.md
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Expand Up @@ -71,7 +71,7 @@

## 📦 3. Installation
> Highly recommend to check our docker files to run our code with step 4 and step 5.
### System Requirements
### System Requirements for Installation on Host machine.

- ROS2 Humble
- PCL
Expand All @@ -80,46 +80,43 @@
- [GTSAM (4.0.2 or 4.1)](https://github.com/borglab/gtsam)
- [Ceres Solver (2.1.0)](http://ceres-solver.org/)

### Dependencies Installation
### Workspace Structure

#### Install Sophus
First create your own local ROS2 workspace and clone `SuperOdom`:
```bash
git clone http://github.com/strasdat/Sophus.git
cd Sophus && git checkout 97e7161
mkdir build && cd build
cmake .. -DBUILD_TESTS=OFF
make -j8 && sudo make install
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/superxslam/SuperOdom
```
Clone respective repos and ensure they follow this exact structure under `ros2_ws/src`:

#### Install GTSAM
```bash
git clone https://github.com/borglab/gtsam.git
cd gtsam && git checkout 4abef92
mkdir build && cd build
cmake \
-DGTSAM_USE_SYSTEM_EIGEN=ON \
-DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
..
make -j6 && sudo make install
```

#### Install Ceres
```bash
git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
git checkout f68321e7de8929fbcdb95dd42877531e64f72f66
mkdir build
cd build
cmake ..
make -j8 # Use number of cores you have, e.g., -j8 for 8 cores
sudo make install
ros2_ws/src
├── SuperOdom
├── livox_ros_driver2
```
> **Important**: Maintain this exact structure within `ros_ws/src`

### Dependencies Installation

We provide a bash script which will setup the project on your host system.

#### Install Rerun
`SuperOdom`:
```bash
pip install rerun-sdk
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/superxslam/SuperOdom
cd SuperOdom
sudo chmod +x install_deps.sh && ./install_deps.sh

```

This will install all the required dependecies for the project except livox_ros_driver2. Please follow the instructions for installing Livox related dependencies here:
- [Livox-ROS-driver2](https://github.com/Livox-SDK/livox_ros_driver2)


Additionally we also provide dockerized environment for our project. Follow the next steps for the same.

## 🐳 4. Docker Setup

### Prerequisites
Expand All @@ -132,28 +129,6 @@ cd ros2_humble_docker
docker build -t superodom-ros2:latest .
```

### Workspace Structure

First create your own local ROS2 workspace and clone `SuperOdom`:
```bash
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/superxslam/SuperOdom
```
Clone respective repos and ensure they follow this exact structure under `ros2_ws/src`:
```
ros2_ws/src
├── SuperOdom
├── livox_ros_driver2
└── rviz_2d_overlay_plugins
```
You can clone `livox_ros_driver2` and `rviz_2d_overlay_plugins` using the following link:

- [Livox-ROS-driver2](https://github.com/Livox-SDK/livox_ros_driver2)
- [ROS2-jsk-plugin](https://github.com/teamspatzenhirn/rviz_2d_overlay_plugins)

> **Important**: Maintain this exact structure within `ros_ws/src`

### Docker Container Setup
```bash
# Allow Docker GUI access
Expand Down