This repository aims to be a start point for someone wanting to use the RTAC simulator. It does not contain any core code, but rather some examples a user could copy and modifiy to his own use.
Keep in mind that this code was solely tested on Ubuntu 20.04. It should work reasonably on Ubuntu 18.04 and later but some issues may arise.
All of these examples will automatically download source dependencies using CMake's FetchContent feature. You only need to install system dependencies beforehand.
RTAC needs a version of CMake >= 3.24 or later. If you are using Ubuntu 20.04 the CMake version that comes with apt is rather old (3.16).
The easiest way to install a more recent cmake version is with KitWare's ppa (KitWare are CMake dev) See here for details :
Add the ppa then update CMake :
sudo apt update && sudo apt upgrade
To install CUDA, follow the instructions given here (Installing CUDA on Ubuntu).
Remember : do not let the CUDA installer update your graphical driver. It is very bad at this and may leave you without a graphical session. Leave the driver installation to Ubuntu drivers manager and install CUDA from the runfile (NOT THE .deb), WITHOUT driver update.
OptiX is NVIDIA's ray tracing library based on CUDA. Follow instructions here. to install it. (RTAC need Optix 7.3.0 or later).
Eigen's version on apt repositories is an old one (RTAC needs Eigen > 3.4). You can either install from sources yourself or let RTAC download it using CMake's FetchContent feature (in which case bnothing is to be done).
If you want to install Eigen yourself, get it from here.
Install these from apt
sudo apt-get install -y build-essential \
libyaml-cpp-dev \
libglfw3-dev \
libglew-dev \
libpng-dev \
libjpeg-dev
Go into the 01_st_raphael_sim directory and compile the CMake package:
cd 01_st_raphael_sim
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release .. && make -j8
./01_st_raphael_sim
If everything went well, you should see a front scan sonar simulation.