Updated install instructions

smauq · smauq · commit 417d9d21b686 · 2022-11-23T15:01:52.000+01:00
diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-<img src="https://github.com/ethz-asl/maplab/wiki/logos/maplab_new.png" width="500">
+<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/logos/maplab_new.png" width="500">
 
 
 *Ubuntu 18.04+ROS melodic*: [![Build Status](https://jenkins.asl.ethz.ch/buildStatus/icon?job=maplab_nightly)](https://jenkins.asl.ethz.ch/job/maplab_nightly)
@@ -19,16 +19,16 @@ This repository contains **maplab 2.0**, an open research-oriented mapping frame
 ## Features
 
 ### Robust visual-inertial odometry with localization
-<img src="https://github.com/ethz-asl/maplab/wiki/readme_images/rovio_stairs.gif" width="400"> <img src="https://github.com/ethz-asl/maplab/wiki/readme_images/rviz_cla_vs.gif" width="400">
+<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/rovio_stairs.gif" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/rviz_cla_vs.gif" width="400">
 
 ### Large-scale multisession mapping and optimization
-<img src="https://github.com/ethz-asl/maplab/wiki/readme_images/largescale.gif" width="400"> <img src="https://github.com/ethz-asl/maplab/wiki/readme_images/cla.png" width="400">
+<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/largescale.gif" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/cla.png" width="400">
 
 ### Dense reconstruction
-<img src="https://github.com/ethz-asl/maplab/wiki/readme_images/stereo.png" width="400"> <img src="https://github.com/ethz-asl/maplab/wiki/readme_images/pmvs.png" width="400">
+<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/stereo.png" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/pmvs.png" width="400">
 
 ### A research platform extensively tested on real robots
-<img src="https://github.com/ethz-asl/maplab/wiki/readme_images/topomap.png" width="400"> <img src="https://github.com/ethz-asl/maplab/wiki/readme_images/robots.jpg" width="400">
+<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/topomap.png" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/robots.jpg" width="400">
 
 ## Installation and getting started
 
@@ -44,7 +44,7 @@ The following articles help you with getting started with maplab and ROVIOLI:
 
 ## Research Results
 
-The maplab framework has been used as an experimental platform for numerous scientific publications. For a complete list of publications please refer to [Research based on maplab](https://maplab.asl.ethz.ch/docs/master/pages/overview_and_introduction/C_Related-Research.html).
+The maplab framework has been used as an experimental platform for numerous scientific publications. For a complete list of publications please refer to [Research based on maplab](https://maplab.asl.ethz.ch/docs/master/pages/overview_and_introduction/C_Related-Research.html#additional-citations).
 
 ## Citing
 
diff --git a/docs/pages/installation/A_Installation-Ubuntu.md b/docs/pages/installation/A_Installation-Ubuntu.md
@@ -1,26 +1,19 @@
-## Installing on Ubuntu 
-14.04 (depricated), 16.04, 18.04, 20.04 (experimental)
-### Automatic installation
-For your convenience, we provide an install script to automate the whole installtion. Please make sure that you have an [SSH key activated on your GitHub account.](https://help.github.com/en/github/authenticating-to-github/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent)
-To install maplab, use the following commands
-```bash
-wget https://raw.githubusercontent.com/ethz-asl/maplab/develop/install.sh
-bash install.sh # Use the argument "experimental" to also install our latest features if your are eligible. Do not use sudo.
-```
+## Installing on Ubuntu
+18.04, 20.04 (experimental)
 
 ### Manual installation
-If you prefer manually installing all compoments, following this guideline.
+First set up some basic environment variables
 
-```bash 
-export UBUNTU_VERSION=$(lsb_release -cs) #(Ubuntu 14.04: trusty (depricated), Ubuntu 16.04: xenial, Ubuntu 18.04: bionic, Ubuntu 20.04: focal (experimental))
-export ROS_VERSION=melodic #(Ubuntu 14.04: indigo (depricated), Ubuntu 16.04: kinetic, Ubuntu 18.04: melodic, Ubuntu 20.04: noetic (experimental))
-export CATKIN_WS=~/maplab_ws
+```bash
+export UBUNTU_VERSION=$(lsb_release -cs) #(Ubuntu 18.04: bionic, Ubuntu 20.04: focal (experimental))
+export ROS_VERSION=melodic #(Ubuntu 18.04: melodic, Ubuntu 20.04: noetic (experimental))
+export CATKIN_WS=~/maplab_ws #(Wherever you want to install maplab)
 ```
 
 #### Install required system packages
 ```bash
 # Install ROS
-# NOTE: Follow the official ROS installation instructions for melodic.
+# NOTE: Follow the official ROS installation instructions.
 sudo apt install software-properties-common
 sudo add-apt-repository "deb http://packages.ros.org/ros/ubuntu $UBUNTU_VERSION main"
 wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
@@ -29,12 +22,13 @@ sudo apt install ros-$ROS_VERSION-desktop-full "ros-$ROS_VERSION-tf2-*" "ros-$RO
 
 
 # Install framework dependencies.
-sudo apt install autotools-dev ccache doxygen dh-autoreconf git liblapack-dev libblas-dev libgtest-dev libreadline-dev libssh2-1-dev pylint clang-format-3.9 python-autopep8 python-catkin-tools python-pip python-git python-setuptools python-termcolor python-wstool libatlas3-base libv4l-dev --yes
+sudo apt install autotools-dev ccache doxygen dh-autoreconf git liblapack-dev libblas-dev libgtest-dev libreadline-dev libssh2-1-dev pylint clang-format-6.0 python-autopep8 python-catkin-tools python-pip python-git python-setuptools python-termcolor python-wstool libatlas3-base libv4l-dev --yes
 
-sudo pip install requests
+pip install requests
 ```
 
 #### Update ROS environment
+Follow this if you freshly installed ROS, if you already had ROS installed you can skip this.
 
 ```bash
 sudo rosdep init
@@ -53,11 +47,8 @@ echo 'export PATH="/usr/lib/ccache:$PATH"' | tee -a ~/.bashrc &&\
 source ~/.bashrc && echo $PATH
 ccache --max-size=10G
 ```
-Your path (at least the beginning) should look like:
-```
-/usr/lib/ccache:/usr/local/cuda-5.5/bin/:/usr/lib/lightdm/lightdm:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games
-```
-And g++/gcc should now point to:
+
+Now g++/gcc should now point to:
 ```
 which g++ gcc
 /usr/lib/ccache/g++
@@ -72,8 +63,8 @@ Empty the cache and reset the stats:
 ccache -C -z
 ```
 ccache only works for a clean workspace. You will need a `make clean` otherwise.
-#### Create a catkin workspace
 
+#### Create a catkin workspace
 To create a workspace, run:
 ```bash
 mkdir -p $CATKIN_WS/src
@@ -82,17 +73,19 @@ catkin init
 catkin config --merge-devel # Necessary for catkin_tools >= 0.4.
 catkin config --extend /opt/ros/$ROS_VERSION
 catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+```
 
-# For more informative and readable output.
+For more informative and readable output use:
+```bash
 catkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_CXX_FLAGS=-fdiagnostics-color
-cd src
 ```
 
 #### Cloning maplab repository
 Now you can clone maplab and its dependencies via SSH, https clone is not supported for developer version.
-SSH keys need to be installed and connected to your GitHub account, as explained [here.](https://help.github.com/en/github/authenticating-to-github/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent)
+SSH keys need to be installed and connected to your GitHub account, as explained [here](https://help.github.com/en/github/authenticating-to-github/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent).
 
 ```bash
+cd src
 git clone git@github.com:ethz-asl/maplab.git --recursive -b develop
 ```
 
@@ -110,8 +103,8 @@ cd $CATKIN_WS/src/maplab
 cd $CATKIN_WS
 catkin build maplab
 ```
-**Note:** Currently some of our dependencies contain superfluous packages that will not have all the necessary dependencies. Therefore compilation will fail for these packages, if you try to build the complete workspace with: `catkin build`. Please have a look at the [FAQ](../overview_and_introduction/D_FAQ.md).
+**Note:** Currently some of our dependencies contain superfluous packages that will not have all the necessary dependencies. Therefore compilation will fail for these packages, if you try to build the complete workspace with: `catkin build`.
 
 #### Troubleshooting
 
-Please visit the [FAQ](../overview_and_introduction/D_FAQ.md) section.
+Please visit the [FAQ](../overview_and_introduction/D_FAQ.html#installation) and the additional instructions on debugging provided here [here](B_Compilation-and-Debugging.html).
diff --git a/docs/pages/installation/B_Compilation-and-Debugging.md b/docs/pages/installation/B_Compilation-and-Debugging.md
@@ -1,7 +1,7 @@
 ## Compilation and Debugging
 
 ### Use ccache
-ccache is a fast compiler cache. It is a program that is sitting in front of gcc and monitors what is being compiled. If a file was compiled before in the exact same state, then ccache will serve a compilation request from cache and thus lead to "instant" compilation.
+ccache is a fast compiler cache. It is a program that sits in front of gcc and monitors what is being compiled. If a file was compiled before in the exact same state, then ccache will serve a compilation request from cache and thus lead to "instant" compilation.
 
 To install ccache:
 ```bash
@@ -23,10 +23,6 @@ If you only changed a single package you can also restrict the build process to
 ```
 catkin build maplab --no-deps
 ```
-Even more efficient is invoking ```make -j8``` in the build folder of the package
-```
-cd ~/catkin_ws/build/maplab && make -j8
-```
 
 ### Compile in Release/Debug mode
 Most packages are not built in Release mode. To build packages in Release mode:
@@ -82,87 +78,4 @@ gdb --ex run --args ~/devel/lib/maplab/maplab --use_external_memory=false
 ```
 Where ```--use_external_memory=false``` is just an example flag.
 
-### Clang on Ubuntu 14.04
-Clang 3.5 can be installed with
-```
-sudo apt-get install clang-3.5
-```
-and set as the default compiler with:
-```
-sudo update-alternatives --config c++
-sudo update-alternatives --config cc
-```
-
-If you are using clang together with ccache on Ubuntu 14.04 you should consider updating the system's ccache version.
-
-### Compile clang with openmp support on Ubuntu 14.04
-
-Get the sources:
-
-```
-mkdir -p /tmp/llvm-clang-omp
-cd /tmp/llvm-clang-omp
-git clone https://github.com/clang-omp/llvm
-git clone https://github.com/clang-omp/compiler-rt llvm/projects/compiler-rt
-git clone -b clang-omp https://github.com/clang-omp/clang llvm/tools/clang
-```
-
-Build and time for several coffees:
-
-```
-mkdir -p /tmp/llvm-clang-omp/build
-cd /tmp/llvm-clang-omp/build
-cmake -G "Unix Makefiles" -DCMAKE_BUILD_TYPE=Release ../llvm
-make -j8
-```
-
-Remove old packages and install the compiler and Intel runtime.
-
-```
-sudo apt-get install checkinstall libiomp-dev
-sudo apt-get remove clang-* llvm-* libclang*
-
-cd /tmp/llvm-clang-omp/build
-checkinstall
-```
-Set a meaningful name for the package and let it conflict with the system's clang packages if you want to exclude the possibility of different versions conflicting.
-
-Set as default compiler:
-
-```
-sudo rm /etc/alternatives/cc
-sudo rm /etc/alternatives/c++
-
-sudo ln -s /usr/local/bin/clang-3.5 /etc/alternatives/cc
-sudo ln -s /usr/local/bin/clang++ /etc/alternatives/c++
-```
-
-### Upgrade ccache on Ubuntu 14.04
-Ubuntu 14.04 delivers ccache 3.1.9 that has no official clang support. A manual update to a version of ccache >= 3.2.0 is recommended when using clang. The following steps can be used to perform this update:
-
-```
-sudo apt-get install devscripts
-mkdir -p /tmp/ccache
-```
-
-Get the current distro source package:
-```
-cd /tmp/ccache
-apt-get build-dep ccache
-apt-get source ccache
-```
-
-Upgrade the distro source package with the recent upstream source:
-```
-cd /tmp/ccache
-wget http://samba.org/ftp/ccache/ccache-3.2.1.tar.gz
-cd ccache-3.1.9
-uupdate ../ccache-3.2.1.tar.gz
-```
-
-Build binary package and install:
-```
-cd /tmp/ccache/ccache-3.2.1
-dpkg-buildpackage -us -uc -nc
-sudo dpkg -i ../ccache_3.2.1-0ubuntu1_amd64.deb
-```
+For adding gdb or valgrind to ROS launch files see examples [here](http://wiki.ros.org/roslaunch/Tutorials/Roslaunch%20Nodes%20in%20Valgrind%20or%20GDB).
diff --git a/docs/pages/overview_and_introduction/A_The-Maplab-Framework.md b/docs/pages/overview_and_introduction/A_The-Maplab-Framework.md
@@ -21,4 +21,4 @@ Maplab 2.0 can be divided into three main components:
 * **Console:** The console is meant for offline map optimization and multi-session mapping.
 
 Below is an overview of one possible configuration.
-<img src="https://github.com/ethz-asl/maplab/tree/master/docs/pages/images/system-overview.png">
+<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/images/system-overview.png">
diff --git a/docs/pages/overview_and_introduction/D_FAQ.md b/docs/pages/overview_and_introduction/D_FAQ.md
@@ -3,7 +3,7 @@
 **Content:**
 * [Installation](#installation)
 * [Sensors](#sensors)
-* [ROVIOLI](#rovioli)
+* [Map Building](#map-building)
 * [Optimization](#optimization)
 * [Miscellaneous](#miscellaneous)
 
@@ -118,7 +118,7 @@ For visual-inertial sensors calibrations can then be obtained using [Kalibr](htt
 
 For visual-inertial mapping the minimum requirements are: a gray-scale (preferably fish-eye) camera with global shutter and an IMU. The second critical component is a solid time synchronization between camera and IMU, i.e. ideally both devices are triggered based on the same clock.
 
-### Map building
+### Map Building
 
 #### Q: How can I make maplab stop appending "image_raw" to the image topic?
 
@@ -155,4 +155,4 @@ Not seeing any sort of logical structure in the landmarks and bad convergence ca
 
 That's why:
 
-<img src="https://github.com/ethz-asl/maplab/tree/master/docs/pages/images/cool_sheep.gif" width="400">
+<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/images/cool_sheep.gif" width="400">
diff --git a/docs/pages/overview_and_introduction/E_Known-Issues.md b/docs/pages/overview_and_introduction/E_Known-Issues.md
@@ -1,7 +1,11 @@
 ## Known Issues
 
-Please also have a look at the [FAQ](https://maplab.asl.ethz.ch/docs/master/pages/overview_and_introduction/D_FAQ.html), there might be a solution to your issue there. We encourage you to contribute to this repository if you have a solution to these issues
+Please also have a look at the [FAQ](D_FAQ.html), there might be a solution to your issue there. We encourage you to contribute to this repository if you have a solution to these issues
 
 ### Building with unstable internet connection
 
-Building maplab will download and check-out dependencies, which can be very slow depending on the speed of you internet connection. A more detailed answer can be found in the [FAQ](https://maplab.asl.ethz.ch/docs/master/pages/overview_and_introduction/D_FAQ.html).
+Building maplab will download and check-out dependencies, which can be very slow depending on the speed of you internet connection. A more detailed answer can be found in the [FAQ](D_FAQ.html#installation).
+
+### Protobuf errors when changing protoc files
+
+Sometimes when changing the `.protoc` files the program will segfault when loading a map for example. This is cause by an incompatibility with ccache. Clear the work space `catkin clean --yes` and also ccache `ccache -C -z`.
diff --git a/install.sh b/install.sh
