cd ~

git clone https://github.com/Abdob/maplab_ws

cd ~/maplab_ws

chmod +x ros_install.sh

./ros_install.sh

sudo apt install -y software-properties-common

sudo add-apt-repository "deb http://packages.ros.org/ros/ubuntu bionic main"

wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -

sudo apt update

sudo apt install -y ros-melodic-desktop-full doxygen liblapack-dev libblas-dev autotools-dev dh-autoreconf libboost-all-dev python-setuptools git g++ cppcheck default-jre libgtest-dev libglew-dev clang-format-3.9 python-git pylint python-termcolor "ros-melodic-camera-info-manager*" protobuf-compiler protobuf-c-compiler python-wstool python-catkin-tools libssh2-1-dev libatlas3-base libnlopt-dev ccache ros-melodic-octomap ros-melodic-octomap-ros ros-melodic-gps-common "ros-melodic-tf2-*" python-pip python-autopep8 libreadline-dev ifstat ntpdate sysstat libv4l-0

sudo rosdep init

rosdep update

echo ". /opt/ros/melodic/setup.bash" >> ~/.bashrc

source ~/.bashrc

sudo apt install -y ccache &&\

echo 'export PATH="/usr/lib/ccache:$PATH"' | tee -a ~/.bashrc &&\

source ~/.bashrc && echo $PATH

ccache --max-size=10G

cd ~/maplab_ws

catkin init

catkin config --merge-devel

catkin config --extend /opt/ros/melodic

catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_COMPILER_LAUNCHER=ccache

catkin build maplab -j2

catkin clean # Necessary to clean up your workspace as your layout will change.

catkin config --merge-devel

catkin build maplab -j2

Download MH_01_easy.bag and place it in the maplab_ws directory

http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_01_easy/MH_01_easy.bag

source ~/maplab_ws/devel/setup.bash

roscore&

rosrun rovioli tutorial_euroc save_folder MH_01_easy.bag

using methods a or b

a)

source ~/maplab_ws/devel/setup.bash

rosrun maplab_console maplab_console

create_new_map --map_key my_empty_key

load --map_key my_map_key --map_folder save_folder

rtl

b)

source ~/maplab_ws/devel/setup.bash

roscore&

rosrun rovioli tutorial_euroc save_folder_loc_map MH_01_easy.bag --optimize_map_to_localization_map

Download MH_03_easy.bag and place it in the maplab_ws directory

http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_02_easy/MH_02_easy.bag

source ~/maplab_ws/devel/setup.bash # Make sure that your maplab workspace is sourced!

roscore&

rosrun rovioli tutorial_euroc_localization save_folder_loc_map_localization save_map_with_localization MH_02_easy.bag