=====Téléchargement=====
visiter http://rpg.ifi.uzh.ch/svo2.html et s'enregistrer pour recevoir par mail le lien (à ne pas diffuser)
====installation=====
  cd DOSSIER_DE_TELECHARGEMENT
  unzip svo_binaries_1604_kinetic.zip
  cd svo_binaries_1604_kinetic 
  evince install.pdf  &
  sudo apt-get install python-pip
  sudo pip install catkin-tools==0.3.1

  cp -r  svo_install_ws/ ~/
  cd ~/svo_install_ws
  ./fix_path.sh 
  #ignorer les problèmes d'opengv
  source /opt/ros/kinetic/setup.bash 
  cd ~
  source ~/svo_install_ws/install/setup.bash

  mkdir svo_install_overlay_ws && cd svo_install_overlay_ws
  catkin config --init --mkdirs --cmake-args -DCMAKE_BUILD_TYPE=Release
  catkin config

  cp -r /media/HD500GO/plow/svo2/svo_binaries_1604_kinetic/rpg_svo_example ~/svo_install_overlay_ws/src
  cd ~/svo_install_overlay_ws
  catkin build


<file txt erreur.txt> 
CMake Error at CMakeLists.txt:4 (find_package):
  By not providing "Findcatkin_simple.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "catkin_simple", but CMake did not find one.

  Could not find a package configuration file provided by "catkin_simple"
  with any of the following names:

    catkin_simpleConfig.cmake
    catkin_simple-config.cmake

  Add the installation prefix of "catkin_simple" to CMAKE_PREFIX_PATH or set
  "catkin_simple_DIR" to a directory containing one of the above files.  If
  "catkin_simple" provides a separate development package or SDK, be sure it
  has been installed.
</file>

après recherche sur https://answers.ros.org/question/240786/cmake-error-could-not-find-module-findcatkin_simplecmake/ , j'installe catkin_simple via git

  cd ~/svo_install_overlay_ws
  git clone https://github.com/catkin/catkin_simple.git
et relance 
  catkin build

=====Execution programme démo=====
  source ~/svo_install_overlay_ws/devel/setup.bash
téléchargement du bag de démo
  cd ~/
  wget http://rpg.ifi.uzh.ch/svo2/svo_test_short.bag
  roslaunch svo_ros run_from_topic.launch cam_name:=svo_test_pinhole
et dans une console séparée
  rosbag play svo_test_short.bag