Linux Ubuntu 16.04 setup

Please pay attention to company policies when installing software

For all

Download the 16.04.3 desktop image from ubuntu.com
Install ubuntu with user wasp/wasp

Make sure that the system is updated

```
sudo apt-get update
```
```
sudo apt-get upgrade
```

Change the background image to this image
Remove the Amazon icon on the launcher
Create desktop URL shortcut to the WASP course webpage in Canvas, i.e., to
- https://kth.instructure.com/login/saml (put this file on the desktop Login_Canvas_non-KTH.desktop Download Login_Canvas_non-KTH.desktop)
- https://kth.instructure.com/login/canvas (put this file on the desktop Login_Canvas_KTH.desktop Download Login_Canvas_KTH.desktop
  )
Install Google chrome browser from Link Links to an external site.

Install kernel header files (just in case)

sudo apt-get install build-essential linux-headers-`uname -r` dkms

Install some basic packages

sudo apt-get install terminator git octave qtcreator

Install a wide variety of text editors

wget -qO - https://download.sublimetext.com/sublimehq-pub.gpg | sudo apt-key add -
sudo apt-get install apt-transport-https
echo "deb https://download.sublimetext.com/ apt/stable/" | sudo tee /etc/apt/sources.list.d/sublime-text.list
sudo apt-get update
sudo apt-get install gedit emacs xemacs21 vim vim-gnome sublime-text

Install an image and video editing software and sound recording software

sudo apt-get install gimp handbrake gnome-sound-recorder soundconverter vlc vokoscreen

Install additional python packages

sudo apt-get install python-numpy python-scipy python-matplotlib ipython ipython-notebook python-pandas python-sympy python-nose python-pip python-dev python-virtualenv

ROS including OpenCV 3

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full ros-kinetic-cv-camera
sudo rosdep init
rosdep update
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

In some cases when moving on to install further packages I have seen the system all of a sudden claiming that ROS is no longer needed and that it can be removed. To fix that simply issue
```
sudo apt-get install ros-kinetic-desktop-full ros-kinetic-cv-camera
```
again

Clean the archive with downloaded apt packages to free up some space (>2GB if you did all of the above)
- ```
sudo apt-get clean
```
Close all your terminals to ensure that you have ROS loaded in all upcoming installations

For some assignments

Point cloud library, PCL 1.8 (http://pointclouds.org/ Links to an external site.)

sudo apt-get update
sudo apt-get install git build-essential linux-libc-dev cmake cmake-gui libusb-1.0-0-dev libusb-dev libudev-dev mpi-default-dev openmpi-bin openmpi-common libflann1.8 libflann-dev libeigen3-dev libboost-all-dev libvtk5.10-qt4 libvtk5.10 libvtk5-dev libqhull* libgtest-dev freeglut3-dev pkg-config libxmu-dev libxi-dev  mono-complete qt-sdk openjdk-8-jdk openjdk-8-jre
cd ~
mkdir software
cd software
wget https://github.com/PointCloudLibrary/pcl/archive/pcl-1.8.0.tar.gz
tar -xvf pcl-1.8.0.tar.gz
cd pcl-pcl-1.8.0/
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr \ DBUILD_GPU=OFF -DBUILD_apps=OFF -DBUILD_examples=OFF ..
make

This takes about 1h

sudo make install
cd ..
rm -rf build
cd ~/software

If you want to free up some space
- ```
rm -rf pcl-1.8*
```

Google Ceres (http://ceres-solver.org/ Links to an external site.)

sudo apt-get install cmake libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev
cd ~/software
wget http://ceres-solver.org/ceres-solver-1.13.0.tar.gz
tar -zxf ceres-solver-1.13.0.tar.gz
cd ceres-solver-1.13.0
mkdir ceres-bin
cd ceres-bin
cmake ..
make

Takes about 8min

```
make test
```
- Takes about 3min
Test that Ceres is built properly
- ./bin/simple_bundle_adjuster ../data/problem-16-22106-pre.txt
- The output should look similar to the example below

Install the ceres software

sudo make install
make clean
rm ~/software/ceres-solver-1.13.0.tar.gz

ORBSLAM2

Install the dependency Pangolin

sudo apt-get install libglew-dev
cd ~/software
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
make
sudo make install
make clean

Install ORBSLAM2

cd ~/software
git clone https://github.com/raulmur/ORB_SLAM2.git
cd ORB_SLAM2
chmod +x build.sh
./build.sh

Build ROS examples (did not work in VirtualMachine last I tried)

Edit ~/.bashrc by adding the following at the end

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/wasp/software/ORB_SLAM2/Examples/ROS

```
chmod +x build_ros.sh
./build_ros.sh
```

If this fails with errors like

/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD.dir/build.make:216: recipe for target '../RGBD' failed

edit the corresponding CMakeLists.txt (the file that tells the system how to buid the software) around line 58 with

subl Examples/ROS/ORB_SLAM2/CMakeLists.txt

You should add -lboost_system so that you have

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system
)

Then run ./build_ros.sh again and it should work

Install g2o

sudo apt-get install libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev
cd ~/software
git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build
cd build
cmake ..
make
cd ..
rm -rf build