Installation

This is tested on Ubuntu 18.04 with ROS melodic and Ubuntu 20.04 with ROS noetic. (Reminder: only amd64 architecture is currently supported.)

(It is also possible to use this with 16.04 & ROS kinetic, but with GCC7+; instructions are here. The rest of the instructions should hold (remember to replace melodic with kinetic))

You need:

ROS melodic or noetic (ROS base + perception + catkin)
Glog
Gflags

Get Azure Spatial Anchors Linux SDK

Please fill in the following form and accept the EULA to get access: aka.ms/ASALinuxSDKSignup. We will e-mail you the .deb file containing the SDK.

Note that it may take up to 2 business days to get added! Equally important to note that the EULA is for non-commercial use only. This is only to be used for research and evaluation, as no support is promised or provided.

After receiving the email with the SDK and downloading the attachment to your computer, you can install the .deb by either double-clicking on it in your downloads folder and following the instructions or running the following command in the terminal from the folder where it has been downloaded:

sudo dpkg -i azure-spatial-anchors-2.7.0-release0005-Linux.deb

Install ROS

Follow the instructions to get the ROS repos (melodic for Ubuntu 18.04)
http://wiki.ros.org/melodic/Installation/Ubuntu
Or Noetic for Ubuntu 20.04:
http://wiki.ros.org/noetic/Installation/Ubuntu

Here are the instruction for 18.04 & ROS Melodic:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-melodic-desktop

Set up Catkin workspace

Make sure you add the following line to your bashrc to source the ROS workspace before continuing:

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

(Change to kinetic or noetic as necessary).

System dependencies:

sudo apt-get install ros-$ROS_DISTRO-catkin ros-$ROS_DISTRO-tf2-eigen python-catkin-tools libgflags-dev libgoogle-glog-dev python-wstool

Bare-bones ROS deps (if you don't want ros-melodic-desktop or ros-melodic-desktop-full, which is otherwise recommended):

sudo apt-get install ros-$ROS_DISTRO-ros-base ros-$ROS_DISTRO-perception ros-$ROS_DISTRO-common-msgs

Set up a new catkin workspace, note that merge-devel is required for this to work:

mkdir -p ~/catkin_ws/src
cd catkin_ws
catkin config --init --merge-devel --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin config --extend /opt/ros/$ROS_DISTRO
cd src

Set your catkin workspace to be sourced by default in your .bashrc:

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

Set up this repository

(If you either did the steps above or already have a workspace).

Clone the dependencies (assuming no github ssh keys):

cd ~/catkin_ws/src/
git clone https://github.com/catkin/catkin_simple.git

Clone the repo:

cd ~/catkin_ws/src/
git clone https://github.com/microsoft/azure_spatial_anchors_ros.git

Building

Build:

catkin build asa_ros

Next Steps

Head over to Using Sample Data for a Demo to get started using the package.

0. Home

1. Getting Started

1.1 Prerequisites
1.2 Installation & Building
1.3 Demo Using Sample Data

2. Interfaces & Usage Instructions

2.1 ROS Node
2.2 Coordinate Frame Conventions
2.3 Using the Intel Realsense T265