Installing Nautilus

The Nautilus Stack is built using Catkin, you should already have a catkin workspace created, if you do not follow this tutorial to create it first.

The stack should be placed into the src folder in your catkin workspace.

cd <catkin_workspace_path>/src

First clone the stack and all it's submodules:

git clone --recurse-submodules https://github.com/TheCynosure/nautilus_stack.git

Next we need to install all the dependencies:

cd nautilus_stack/nautilus

sudo ./install_ubuntu.sh

Now we need to build the stack:

cd <catkin_workspace_path>

catkin_make

note

For faster performance check that you are building the Release version of nautilus. In the CMakeLists.txt inside nautilus_stack/nautilus check the CMAKE_BUILD_TYPE is to set to be Release.

Now finally make sure to source the setup.bash file to get all the relavent environment variables:

source devel/setup.bash