The current version of the viso2 ROS wrapper builds in both ROS Fuerte and Groovy versions. However, for both of them, we must use the catkin building system. In this book we have seen the rosmake classical building system, so we provide detailed instructions for the catkin installation of viso2 here. Run all the following commands in sequence:
cd ~ mkdir ros cd ros mkdir -p caktin_ws/src cd caktin_ws/src/ catkin_init_workspace
Now that we have created our catkin workspace, we proceed to install viso2. We are going to do it with wstool, which integrates the downloading command in the system. This means that instead we could simply run a git clone git://github.com/srv/viso2.git, which clones the repository of the viso2 wrapper. We first install wstool and download viso2 with:
sudo apt-get install python-wstool wstool init wstool set viso2 --git git://github.com/srv/viso2.git wstool update
With catkin, we must select the environment variables we want to...