Tips & FAQs¶
Cannot compile jsk_recognition because of “memory allocation error”¶
jsk_pcl_ros
and jsk_perception
requires much memory to be
compiled because of PCL. On average, each cpp file requires 2.5GB memory
to compile.
If your machine does not have enough memory, please use smaller number of CPUs to compile
catkin build -p1 -j1
How to install PCL from source?¶
Refer to script used on Travis:
#!/usr/bin/env bash
######################################################
# Install PCL 1.8
######################################################
if [ ! -e /usr/local/include/pcl-1.8/pcl/pcl_base.h ]; then
cd /tmp
version="1.8.0rc2"
url="https://github.com/PointCloudLibrary/pcl/archive/pcl-${version}.tar.gz"
fname=pcl-${version}.tar.gz
wget $url -O $fname
tar zxf $fname
cd pcl-pcl-${version}
mkdir build
cd build
# pcl::CropBox does not work properly in kinetic
# with PCL_ENABLE_SSE:BOOL=TRUE flag
# https://github.com/PointCloudLibrary/pcl/pull/1917
if [ $(lsb_release -c -s) = "xenial" ]; then
cmake -DCMAKE_BUILD_TYPE=Release -DPCL_ENABLE_SSE:BOOL=FALSE ..
else
cmake -DCMAKE_BUILD_TYPE=Release ..
fi
make -j2
sudo make -j2 install
fi
######################################################
# Setup dependencies to rebuild from source
######################################################
sudo -H pip install -q rosinstall_generator
rosinstall_generator --tar --rosdistro $ROS_DISTRO \
pcl_conversions \
pcl_ros \
octomap_server \
>> /tmp/$$.rosinstall
cd ~/ros/ws_$REPOSITORY_NAME/src
wstool merge /tmp/$$.rosinstall
wstool up -j4
How to install OpenCV from source?¶
Refer to script used on Travis:
#!/usr/bin/env bash
######################################################
# Install OpenCV 3
######################################################
sudo -H apt-get install -y -q -qq ros-$ROS_DISTRO-opencv3
######################################################
# Setup dependencies to rebuild from source
######################################################
sudo -H pip install -q rosinstall_generator
rosinstall_generator --tar --rosdistro $ROS_DISTRO \
cv_bridge \
image_geometry \
image_transport \
image_view2 \
jsk_data \
jsk_topic_tools \
opencv_apps \
>> /tmp/$$.rosinstall
cd ~/ros/ws_$REPOSITORY_NAME/src
wstool merge /tmp/$$.rosinstall
wstool up -j4
How to install OpenNI2?¶
By Apt
sudo apt-get install libopenni2-dev
From Source
sudo apt-get install g++
sudo apt-get install python
sudo apt-get install libusb-1.0-0-dev
sudo apt-get install libudev-dev
sudo apt-get install openjdk-6-jdk
sudo apt-get install freeglut3-dev
sudo apt-get install graphviz
git clone https://github.com/occipital/openni2
cd openni2
make
export PATH=$(pwd)/Bin/x64-Release:$PATH
export LD_LIBRARY_PATH=$(pwd)/Bin/x64-Release:$LD_LIBRARY_PATH
# need to build openni2_camera from source
cd ~/catkin_ws/src
git clone https://github.com/ros-drivers/openni2_camera.git
catkin build -iv
How to generate doc on local machine¶
roscd jsk_recognition
cd ../doc
source setup.sh
make html
Then you can see doc with _build/html/index.html