ROS - Setup

Install Pre-Built Releases

Supported distros: Humble, Jazzy, Kilted, Rolling

sudo apt install ros-${ROS_DISTRO}-rko-lio

Build from source

The system dependencies are:

  • CMake, ROS environment

  • Optionally: Eigen, Sophus, nlohmann_json, TBB, Bonxai (see Core library for more details)

Clone the repository into a colcon workspace’s src.

You can handle dependencies through either:

  • rosdep

  • FetchContent

For rosdep, run the following in your workspace directory:

rosdep install --from-paths src --ignore-src -r -y

For using FetchContent, enable the RKO_LIO_FETCH_CONTENT_DEPS option when building.

I provide certain default colcon CMake arguments in colcon.pkg which you might not want:

  • CMAKE_BUILD_TYPE=Release -> self explanatory

  • RKO_LIO_BUILD_ROS=ON -> default ON, will only build the ROS wrapper when enabled

  • CMAKE_EXPORT_COMPILE_COMMANDS=ON -> useful for development

These flags will get picked up automatically when you build the package with colcon. In case you don’t want certain options, please edit the file to disable any flag.

From the workspace folder, then:

colcon build --packages-select rko_lio  # --symlink-install --event-handlers console_direct+

In case you didn’t choose rosdep to setup dependencies, then instead run

colcon build --packages-select rko_lio --cmake-args -DRKO_LIO_FETCH_CONTENT_DEPS=ON

Also consider using Ninja as a generator to speed up builds instead of Make. If you do use Make, make sure (pun intended) to parallelize the build.