Awesome

PPA

Precaution

You have to be aware of the risk of installing software from PPA that implies trusting the author.

Setup PPA

Prerequiresite

sudo apt install curl gpg

Setup PPA

# Choose one of the follows

# Automatically select ubuntu version via online script
curl -s https://koide3.github.io/ppa/setup_ppa.sh | sudo bash

# Manually setup PPA for Ubuntu 24.04
curl -s --compressed "https://koide3.github.io/ppa/ubuntu2404/KEY.gpg" | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg >/dev/null
echo "deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/ubuntu2404 ./" | sudo tee /etc/apt/sources.list.d/koide3_ppa.list

# Manually setup PPA for Ubuntu 22.04
curl -s --compressed "https://koide3.github.io/ppa/ubuntu2204/KEY.gpg" | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg >/dev/null
echo "deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/ubuntu2204 ./" | sudo tee /etc/apt/sources.list.d/koide3_ppa.list

# Manually setup PPA for Ubuntu 20.04
curl -s --compressed "https://koide3.github.io/ppa/ubuntu2004/KEY.gpg" | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg >/dev/null
echo "deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/ubuntu2004 ./" | sudo tee /etc/apt/sources.list.d/koide3_ppa.list

Install packages

Iridescence

sudo apt update
sudo apt install -y libiridescence-dev

GTSAM

• GTSAM tag : 4.2a9
• GTSAM_WITH_TBB=OFF
• GTSAM_BUILD_WITH_MARCH_NATIVE=OFF
• GTSAM_USE_SYSTEM_EIGEN=ON
• GTSAM_USE_SYSTEM_METIS=ON

sudo apt update
sudo apt install -y libgtsam-notbb-dev

gtsam_points

sudo apt update
sudo apt install -y libgtsam-points-dev           # No CUDA
sudo apt install -y libgtsam-points-cuda12.2-dev  # CUDA12.2
sudo apt install -y libgtsam-points-cuda12.5-dev  # CUDA12.5

glim_ros1

sudo apt update

# ROS1 noetic
sudo apt install -y ros-noetic-glim-ros            # No CUDA
sudo apt install -y ros-noetic-glim-ros-cuda12.2   # CUDA12.2
sudo apt install -y ros-noetic-glim-ros-cuda12.5   # CUDA12.5

glim_ros2

sudo apt update

# ROS2 jazzy
sudo apt install -y ros-jazzy-glim-ros            # No CUDA
sudo apt install -y ros-jazzy-glim-ros-cuda12.5   # CUDA12.5

# ROS2 humble
sudo apt install -y ros-humble-glim-ros           # No CUDA
sudo apt install -y ros-humble-glim-ros-cuda12.2  # CUDA12.2
sudo apt install -y ros-humble-glim-ros-cuda12.5  # CUDA12.5

# ROS1 noetic
sudo apt install -y ros-noetic-glim-ros           # No CUDA
sudo apt install -y ros-noetic-glim-ros-cuda12.2  # CUDA12.2
sudo apt install -y ros-noetic-glim-ros-cuda12.5  # CUDA12.5