How to run iSAM2 on the EUFS simulator

Prerequisites

Install Ubuntu 20.04 LTS
Install ROS Foxy
Install colcon

Setup

EUFS setup taken from https://gitlab.com/eufs/eufs_sim/-/wikis/Getting-Started-Guide

1.) Clone the git repository git clone [url-of-repository]

2.) Change directories to the eufs directory clone the necessary repositories

If the following directories already exist but are empty, make sure to remove them before cloning
eufs_sim: https://gitlab.com/eufs/eufs_sim.git
eufs_msgs: https://gitlab.com/eufs/eufs_msgs.git
eufs_rviz_plugins: https://gitlab.com/eufs/eufs_rviz_plugins.git

3.) Install colcon extensions and set the EUFS_MASTER environment variable

pip3 install colcon-common-extensions -U
echo 'export EUFS_MASTER=/path/to/iSAM2_SLAM/eufs' >> ~/.bashrc
source ~/.bashrc

4.) Install dependencies for the EUFS simulator using rosdep

sudo apt-get install python3-rosdep
sudo rosdep init
rosdep update
rosdep install --from-paths $EUFS_MASTER --ignore-src -r -y

5.) Build the eufs package and source it

Change directories to /path/to/iSAM2_SLAM/eufs

Run colcon build

If the directories build, log, or install, currently exist in eufs, make sure to remove them before building

Run source install/setup.bash from /path/to/iSAM2_SLAM/eufs

6.) Change directories into /path/to/iSAM2_SLAM/workspace/src and make sure that the eufs_msgs has been built

If the directory exists but is empty, remove the directory, and then clone eufs_msgs: https://gitlab.com/eufs/eufs_msgs.git

7.) Build the iSAM2 package and source it

Change directories to /path/to/iSAM2_SLAM/workspace

Run colcon build

If the directories build, log, or install, currently exist in eufs, make sure to remove them before building

Run source install/setup.bash from /path/to/iSAM2_SLAM/workspace

8.) Run the EUFS simulator

Open start_sim.txt using a text editor

This file is responsible for running the simulator by first changing directories to the eufs directory.

Make sure to change this path to the your /path/to/iSAM2_SLAM/eufs

Save the changes made

To run the simulator, call bash start_sim.txt

9.) In another terminal run the iSAM2 node

Make sure to build and source the package (from step 5)

Run ros2 run isam2 isam_test

isam2 is the name of the package

isam_test is the executable name

For more information, see the CMakeLists.txt file

Note

Whenever you open a new terminal, you must source the package you plan to run

When running the simulator, remember to change directories to /path/to/iSAM2_SLAM/eufs first and run source install/setup.bash before running bash start_sim.txt
When running the iSAM2, remember to change directories to /path/to/iSAM2_SLAM/workspace first and run source install/setup.bash before running ros2 run isam2 isam_test