首先是按照安装的教程走了一遍：
创建工作目录：
mkdir -p ~/sim_ws/src && cd ~/sim_ws catkin init catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release
安装一些工具：
sudo apt-get install python-vcstool sudo apt-get install ros-kinetic-pcl-ros sudo apt-get install libglfw3 libglfw3-dev sudo apt-get install libglm-dev sudo apt-get install ros-kinetic-hector-trajectory-server
然后克隆项目代码：
cd src/ git clone [email protected]:uzh-rpg/rpg_esim.git vcs-import < rpg_esim/dependencies.yaml
然后更改一些不需要使用的文件夹的属性：
cd ze_oss touch imp_3rdparty_cuda_toolkit/CATKIN_IGNORE \ imp_app_pangolin_example/CATKIN_IGNORE \ imp_benchmark_aligned_allocator/CATKIN_IGNORE \ imp_bridge_pangolin/CATKIN_IGNORE \ imp_cu_core/CATKIN_IGNORE \ imp_cu_correspondence/CATKIN_IGNORE \ imp_cu_imgproc/CATKIN_IGNORE \ imp_ros_rof_denoising/CATKIN_IGNORE \ imp_tools_cmd/CATKIN_IGNORE \ ze_data_provider/CATKIN_IGNORE \ ze_geometry/CATKIN_IGNORE \ ze_imu/CATKIN_IGNORE \ ze_trajectory_analysis/CATKIN_IGNORE
然后进去编译：
cd ../
catkin build esim_ros
设置一些别名，随后方便直接source和使用这个工作空间：
echo "source ~/sim_ws/devel/setup.bash" >> ~/setupeventsim.sh chmod +x ~/setupeventsim.sh alias ssim='source ~/setupeventsim.sh'ssim就可以直接使用了。