EMBA is built upon ROS. The installation instructions of ROS can be found here. We have tested this software on Ubuntu 20.04 and ROS noetic.
Install catkin tools, vcstool:
sudo apt install python3-catkin-tools python3-vcstool
Install additional libraries:
sudo apt install ros-noetic-image-geometry ros-noetic-camera-info-manager ros-noetic-image-view
The Poisson solver used is from this page. It is already copied within this repository. It requires the FFTW library:
sudo apt install libfftw3-dev
Create a new catkin workspace (e.g., emba_ws) if needed:
mkdir -p ~/emba_ws/src && cd ~/emba_ws/
catkin config --init --mkdirs --extend /opt/ros/noetic --merge-devel --cmake-args -DCMAKE_BUILD_TYPE=Release
Download the source code:
cd ~/emba_ws/src/
git clone https://github.com/tub-rip/emba
Clone dependencies:
vcs-import < emba/dependencies.yaml
Build the ROS package:
cd ~/emba_ws
catkin build emba
source devel/setup.bash