## page was renamed from ethzasl_mapping
<<StackHeader(ethzasl_icp_mapping)>>

== Overview ==
This stack provides a real-time 2D and 3D [[http://en.wikipedia.org/wiki/Iterative_Closest_Point|ICP]]-based SLAM system that can fit a large variety of robots and application scenarios, without any code change or recompilation. You are most probably interest in starting by having a look at the [[ethzasl_icp_mapper|mapper package]].

== Installation ==
=== Ubuntu Binary ===
With ROS fuerte or groovy installed, just type:

{{{
sudo apt-get install ros-$ROS_DISTRO-ethzasl-icp-mapping
}}}
=== Sources ===
Make sure you have `git` installed:

{{{
sudo apt-get install git-core
}}}
Get the stack:

{{{
git clone --recursive git://github.com/ethz-asl/ethzasl_icp_mapping.git
}}}
Make sure that it is included in your `ROS_PACKAGE_PATH`:

{{{
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:`pwd`/ethzasl_icp_mapping
}}}
Get the dependencies:

{{{
sudo apt-get install ros-$ROS_DISTRO-map-msgs
sudo apt-get install libargtable2-dev
rosdep update
rosdep install ethzasl_icp_mapping
}}}
Compile the stack:

{{{
rosmake ethzasl_icp_mapping
}}}
== To apply this stack on a turtlebot ==
[[http://wiki.ros.org/John%20Lau|http://wiki.ros.org/John%20Lau]]

== To build on the jade version of ros ==
1. Download the feature/catkin_version version of ethzasl_icp_mapping from 
https://github.com/ethz-asl/ethzasl_icp_mapping to your catkin workspace

2. Change the references to depends(eigen_catkin) and depends(yaml_catkin) in package.xml to build_depends(cmake_modules)

3. Ensure that the eigen path is included properly.  You can also directly include the eigen directories if you know then in the CMakeLists.txt. For example 
include_directories(/usr/include/eigen3) 

4. Run  the catkin_make in the catkin worskpace folder
{{{
catkin_make
}}}

== Report a Bug ==
Please report bugs and request features using the [[https://github.com/ethz-asl/ethzasl_icp_mapping/issues|github page]].

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