> For the complete documentation index, see [llms.txt](https://docs.cooku222.kr/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.cooku222.kr/project-remind/actions/undefined-1/its-study-ai/its-study-6-rtap-map.md).

# \[It's Study 6주차] RTAP-MAP 설치 실패,,,

왜 계속 설치 실패만,,,

다은님 블로그를 많이 참고했다.. 저랑 같은 부분에서 실패를 하셨더군요

리눅스 화면을 캡쳐하면서 올리고 싶은데 스크롤이 길어서 비슷하게 갈 거 같습니다.. 

***

RTAP MAP을 설치한다.

```
sudo apt install ros-humble-rtabmap-ros
```

launch를 설치한다.

```
sudo apt install ros-humble-rtabmap-launch ros2 launch --help
```

RTAP MAP GUI와 bashrc를 실행해준다.

```
sudo apt install ros-humble-rtabmap-viz
source .bashrc
```

RTAP MAP 빌드 시도후 Launch 파일을 확인한다.

```
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws

#repo 복제
git clone https://github.com/introlab/rtabmap.git src/rtabmap
git clone --branch ros2 https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros

#플러그인들 설치
rtabmap_ros rtabmap_costmap_plugins 
colcon build --packages-select rtabmap_ros rtabmap_costmap_plugins
```

 

video 실행을 위해 기반 의존성을 같이 설치해준다.

```
sudo apt install ros-humble-image-transport sudo apt install ros-humble-cv-bridge
sudo apt install libopencv-dev
sudo apt install ros-humble-rclpy
sudo apt install libjpeg-dev
sudo apt install libpng-dev
sudo apt install libgstreamer1.0-dev
sudo apt install libgstreamer-plugins-base1.0-dev
sudo apt install build-essential
sudo apt install pkg-config
sudo apt install libboost-all-dev
```

```
cd ~/ros2_ws/src git clone https://github.com/ros-drivers/video_stream_opencv.git

colcon build --packages-ignore rtabmap_msgs rtabmap_python rtabmap_conversions rtabmap_rviz_plugins rtabmap_sync rtabmap_util rtabmap_odom rtabmap_slam rtabmap_viz rtabmap_demos rtabmap_examples
```

<figure><img src="https://blog.kakaocdn.net/dna/KwjmE/btsM9YAY3Y1/AAAAAAAAAAAAAAAAAAAAACHmkalePKmb3DxWXagTnXOVyoiLuEi4dPEA2p2NsNlN/img.png?credential=yqXZFxpELC7KVnFOS48ylbz2pIh7yKj8&#x26;expires=1782831599&#x26;allow_ip=&#x26;allow_referer=&#x26;signature=awxUOuYG2wU3qpKzP%2FLSjdF0r8I%3D" alt="" height="487" width="735"><figcaption></figcaption></figure>

<br>


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