Installation

Choose your installation method based on your needs. Docker is recommended for the fastest setup.

Docker (Recommended)
Native Ubuntu

Quick Setup with Provided Scripts

The SDK includes scripts for easy Docker deployment with all dependencies pre-configured.

# 1. Clone the repository
git clone https://github.com/neuronav-io/neuronav-slam-sdk.git
cd neuronav-slam-sdk

# 2. Build Docker image
./docker_build.sh

# 3. Run container with camera access
./docker_run.sh

What’s Included

The Docker image automatically installs:

ROS2 Humble
RTAB-Map SLAM
Intel RealSense drivers
OAK-D Pro (DepthAI) drivers
All Python dependencies

Verify Installation

Inside the container:

# Test SDK import
python3 -c "from neuronav import RealSenseSensor; print('✅ SDK ready!')"

# Test camera detection
realsense-viewer  # For RealSense cameras

Manual Docker Setup

If you prefer manual control:

# Build image
docker build -t neuronav-slam .

# Run with camera access
docker run -it --rm \
  --privileged \
  --network host \
  -v /dev:/dev \
  -v $(pwd):/workspace \
  -e DISPLAY=$DISPLAY \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  neuronav-slam

Windows Users: Use WSL2 with Ubuntu 22.04 and follow the Docker instructions above.

Step 1: Install System Dependencies

# Update system
sudo apt update && sudo apt upgrade -y

# Install essential tools
sudo apt install -y curl git python3-pip build-essential cmake

Step 2: Install ROS2 Humble

# Add ROS2 repository
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
  -o /usr/share/keyrings/ros-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
  http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | \
  sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

# Install ROS2
sudo apt update
sudo apt install ros-humble-desktop ros-dev-tools -y

# Setup environment
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc

Step 3: Install RTAB-Map SLAM

# RTAB-Map and required packages
sudo apt install -y \
  ros-humble-rtabmap-ros \
  ros-humble-imu-filter-madgwick \
  ros-humble-foxglove-bridge \
  ros-humble-image-transport-plugins

Step 4: Install Camera Drivers

For Intel RealSense:

# Add Intel repository
sudo mkdir -p /etc/apt/keyrings
curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | \
  sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null

echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] \
  https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" | \
  sudo tee /etc/apt/sources.list.d/librealsense.list

# Install
sudo apt update
sudo apt install -y \
  librealsense2-dkms \
  librealsense2-utils \
  ros-humble-realsense2-camera

For OAK-D Pro:

# Install DepthAI
pip3 install depthai opencv-python
sudo apt install -y ros-humble-depthai-ros

# Setup udev rules
echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | \
  sudo tee /etc/udev/rules.d/80-depthai.rules
sudo udevadm control --reload-rules && sudo udevadm trigger

Step 5: Install Neuronav SDK

# Clone repository
git clone https://github.com/neuronav-io/neuronav-slam-sdk.git
cd neuronav-slam-sdk

# Install SDK
pip3 install -e .

Step 6: Verify Installation

# Test SDK
python3 -c "from neuronav import RealSenseSensor; print('✅ SDK ready!')"

# Test camera
realsense-viewer  # For RealSense

WSL2 Users: Follow these instructions inside your Ubuntu 22.04 WSL2 distribution. You’ll need USBIPD to connect cameras.

Troubleshooting

Camera not detected:

# Check USB connection
lsusb | grep -E "Intel|Luxonis"

# Add user to video group
sudo usermod -a -G video $USER
# Log out and back in

ROS2 not found:

# Source ROS2 environment
source /opt/ros/humble/setup.bash
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

For more help, see the full troubleshooting guide.

What’s Next?

Quick Start

Run your first SLAM

Examples

See code examples

Configuration

Customize settings

Getting Started

Sensors

Examples

Configuration

Quick Setup with Provided Scripts

What’s Included

Verify Installation

Manual Docker Setup

Step 1: Install System Dependencies

Step 2: Install ROS2 Humble

Step 3: Install RTAB-Map SLAM

Step 4: Install Camera Drivers

Step 5: Install Neuronav SDK

Step 6: Verify Installation

Troubleshooting

What’s Next?

Quick Start

Examples

Configuration

​Quick Setup with Provided Scripts

​What’s Included

​Verify Installation

​Manual Docker Setup

​Step 1: Install System Dependencies

​Step 2: Install ROS2 Humble

​Step 3: Install RTAB-Map SLAM

​Step 4: Install Camera Drivers

​Step 5: Install Neuronav SDK

​Step 6: Verify Installation

​Troubleshooting

​What’s Next?

Quick Start

Examples

Configuration

Quick Setup with Provided Scripts

What’s Included

Verify Installation

Manual Docker Setup

Step 1: Install System Dependencies

Step 2: Install ROS2 Humble

Step 3: Install RTAB-Map SLAM

Step 4: Install Camera Drivers

Step 5: Install Neuronav SDK

Step 6: Verify Installation

Troubleshooting

What’s Next?