Jetson nano compatibility

[alexvaut]

First thanks a lot for making it easier to run ORB_SLAM2 on the nvidia SBC platform. Do you think it could run on jetson nano in terms of dependencies/libraries and in terms of performances how bad it would be ?

[thien94]

Hi @alexvaut , sorry for the late reply.

I have tested with Jetson Nano and with the correct modifications, this package can run on it. I have yet to benchmark the performance, but if you happen to have a Nano and can verify the steps can be reproduced it would be very helpful.

Below are the steps to build this package on Jetson Nano:

---

• Install OpenCV 4.1.0 on Jetson Nano (the 3.3.0 version installed with the default image has some issues). Following the instructions in this page worked well for me.
• Install dependencies:
  • Pangolin: follow the instructions here.
  • Eigen 3:

    sudo apt install libeigen3-dev
    

  • PCL for ROS:

    sudo apt-get install libopenni2-dev
    sudo apt-get install ros-melodic-pcl-ros
    

• Clone the jetson_nano branch of the code (with modified CMakeLists for OpenCV 4.1.0 and fixed some compatability issues):

git clone https://github.com/hoangthien94/ORB_SLAM2_CUDA.git ORB_SLAM2_CUDA
cd ORB_SLAM2_CUDA 
git checkout jetson_nano

• Build like normal:

chmod +x build.sh
./build.sh
chmod +x build_ros.sh
./build_ros.sh

[alexvaut]

I'm waiting for my jetson nano, I will try as soon as I can and will let you know ! Thanks again.

[alexvaut]

I managed to build everything except running build_ros.sh, I get this:

[rosbuild] Error from directory check: /opt/ros/melodic/share/ros/core/rosbuild/bin/check_same_directories.py  /home/alex/ORB_SLAM2_CUDA/Examples/ROS/ORB_SLAM2_CUDA
1
Traceback (most recent call last):
  File "/opt/ros/melodic/share/ros/core/rosbuild/bin/check_same_directories.py", line 46, in <module>
    raise Exception
Exception
CMake Error at /opt/ros/melodic/share/ros/core/rosbuild/private.cmake:102 (message):
  [rosbuild] rospack found package "ORB_SLAM2_CUDA" at "", but the current
  directory is "/home/alex/ORB_SLAM2_CUDA/Examples/ROS/ORB_SLAM2_CUDA".  You
  should double-check your ROS_PACKAGE_PATH to ensure that packages are found
  in the correct precedence order.
Call Stack (most recent call first):
  /opt/ros/melodic/share/ros/core/rosbuild/public.cmake:177 (_rosbuild_check_package_location)
  CMakeLists.txt:4 (rosbuild_init)


-- Configuring incomplete, errors occurred!
See also "/home/alex/ORB_SLAM2_CUDA/Examples/ROS/ORB_SLAM2_CUDA/build/CMakeFiles/CMakeOutput.log".
make: *** No targets specified and no makefile found.  Stop.

[alexvaut]

No worries, I fixed it by calling

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/alex/ORB_SLAM2_CUDA/Examples/ROS

[alexvaut]

It's working great, a slight change on the instructions, follow this to install PLC for ROS.

[thien94]

Fantastic! Hope you have good results with the Nano.

I will close the issue for now. Feel free to re-open or open a new one if any other problem arises.