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Learning ROS for Robotics Programming by Enrique Fernández, Aaron Martinez

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Performing visual odometry with viso2

The current version of the viso2 ROS wrapper builds in both ROS Fuerte and Groovy versions. However, for both of them, we must use the catkin building system. In this book we have seen the rosmake classical building system, so we provide detailed instructions for the catkin installation of viso2 here. Run all the following commands in sequence:

cd ~
mkdir ros
cd ros
mkdir -p caktin_ws/src
cd caktin_ws/src/
catkin_init_workspace

Now that we have created our catkin workspace, we proceed to install viso2. We are going to do it with wstool, which integrates the downloading command in the system. This means that instead we could simply run a git clone git://github.com/srv/viso2.git, which clones the repository ...

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