Project Setup

Prerequisites

• ROS 2 Humble: Ensure you have ROS 2 Humble installed on your system. Follow the official ROS 2 installation guide for your operating system.
• Python 3.8+: Ensure you have Python 3.8 or higher installed.

ceres_python_bindings

Third-party bindings to allow the use of ceres-solver with Python.

git clone https://github.com/Edwinem/ceres_python_bindings.git
cd ceres_python_bindings
git submodule init
git submodule update
pip install .

Python Virtual Environment

Run the scripts from inside a virtual environment.

1. Create the virtual environment and install dependencies:

chmod +x setup.sh
./setup.sh

2. To enter the virtual environment with ROS sourced:

source /opt/ros/humble/setup.bash
source venv/bin/activate