srrg2_solver_gui

Package srrg2_solver_gui

Graph viewer for the srrg2_solver. Still a work in progress :D

How to build

All our software is tested both with Ubuntu 18.04 and 16.04 (GCC 5 and 7), still the remaining of this guide refers to Ubuntu 18.04.

1. initialize the srrg2 Catkin workspace following the guide here. As indicated in the aforementioned guide, we suggest to have a directory in which you clone all the srrg2 repositories (referred here as SRRG2_SOURCE_ROOT) and a directory that contains the Catkin workspace (referred here as SRRG2_WS_ROOT)

2. install all viewport dependencies following the guide here

3. clone all the srrg2 packages

cd <SRRG2_SOURCE_ROOT>
git clone https://github.com/srrg-sapienza/srrg2_cmake_modules.git
git clone https://github.com/srrg-sapienza/srrg2_core.git
git clone https://github.com/srrg-sapienza/srrg2_qgl_viewport.git
git clone https://github.com/srrg-sapienza/srrg2_solver.git # includes this package

4. link all the Catkin packages in the workspace

cd <SRRG2_WS_ROOT>/src
ln -s <SRRG2_SOURCE_ROOT>/srrg2_cmake_modules .
ln -s <SRRG2_SOURCE_ROOT>/srrg2_core/srrg2_core .
ln -s <SRRG2_SOURCE_ROOT>/srrg2_solver/srrg2_solver .
ln -s <SRRG2_SOURCE_ROOT>/srrg2_qgl_viewport/srrg2_qgl_viewport .
ln -s <SRRG2_SOURCE_ROOT>/srrg2_solver/srrg2_solver_gui .

5. build using Catkin

cd <SRRG2_WS_ROOT>
catkin build srrg2_solver_gui

Only a super experimental executable is provided:

• srrg_solver_gui_app: loads a configuration and a graph from file and performs batch optimization after a bunch of seconds

source <SRRG2_WS_ROOT>/devel/setup.bash # if you use zsh you have to source the *.zsh file :)
rosrun srrg2_solver srrg_solver_gui_app -h