Table of Contents
Installation
If it is not installed on your system yet, please install ROS. Installation instructions can be found here. We tested ESIM with Ubuntu 20.04 and ROS Noetic. If you have to use ROS Melodic, some specific instructions can be found here.
We recommend to create a new catkin workspace specifically for the simulator as follows:
mkdir -p ~/sim_ws/src && cd ~/sim_ws
catkin init
catkin config --extend /opt/ros/noetic --cmake-args -DCMAKE_BUILD_TYPE=Release
Install vcstools if you do not have it already:
sudo apt-get install python-vcstool
Clone this repository and run vcstools:
cd src/
git clone git@github.com:karma-riuk/hdr_esim.git
vcs-import < hdr_esim/dependencies.yaml
Install pcl_ros:
sudo apt-get install ros-noetic-pcl-ros
sudo apt-get install libproj-dev
Install glfw:
sudo apt-get install libglfw3 libglfw3-dev
Install glm:
sudo apt-get install libglm-dev
Optionally install the trajectory server:
sudo apt-get install ros-noetic-hector-trajectory-server
Disable the packages that are not needed:
cd ze_oss
touch imp_3rdparty_cuda_toolkit/CATKIN_IGNORE \
imp_app_pangolin_example/CATKIN_IGNORE \
imp_benchmark_aligned_allocator/CATKIN_IGNORE \
imp_bridge_pangolin/CATKIN_IGNORE \
imp_cu_core/CATKIN_IGNORE \
imp_cu_correspondence/CATKIN_IGNORE \
imp_cu_imgproc/CATKIN_IGNORE \
imp_ros_rof_denoising/CATKIN_IGNORE \
imp_tools_cmd/CATKIN_IGNORE \
ze_data_provider/CATKIN_IGNORE \
ze_geometry/CATKIN_IGNORE \
ze_imu/CATKIN_IGNORE \
ze_trajectory_analysis/CATKIN_IGNORE
Build the event_camera_simulator node:
catkin build esim_ros
Make an alias for your workspace so you can source it easily next time.
echo "source ~/sim_ws/devel/setup.bash" >> ~/setupeventsim.sh
chmod +x ~/setupeventsim.sh
In your .bashrc file, add the following line:
alias ssim='source ~/setupeventsim.sh'
From now on, typing ssim in a terminal will initialize the simulator workspace (you need to run bash first if you want to try this right after editing the .bashrc file.
Testing
Congratulations! At this point you should be all set to try the simulator. Among the multiple rendering engines available, we recommend that you start with the Planar Rendering Engine to check that everything is up and running.