Cartographer安裝流程
安裝與編譯
0. 安裝所有依賴項(xiàng)
$ sudo apt-get install -y google-mock libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx ros-indigo-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev
1. 安裝ceres solver 1.11
$ git clone https://github.com/hitcm/ceres-solver-1.11.0.git
$ cd ceres-solver-1.11.0/build
$ cmake ..
$ make
$ sudo make install
2. 安裝cartographer
$ git clone https://github.com/hitcm/cartographer.git
$ cd cartographer/build
$ cmake ..
$ make
$ sudo make install
3. 安裝cartographer_ros
$ sudo apt-get update
$ sudo apt-get install -y python-wstool python-rosdep ninja-build
$ mkdir catkin_ws
$ cd catkin_ws
$ wstool init src
下載到catkin_ws下面的src文件夾下面
$ git clone https://github.com/hitcm/cartographer_ros.git
到catkin_ws下面運(yùn)行catkin_make
$ catkin_make
4. 數(shù)據(jù)下載測試
$ catkin_make_isolated --install --use-ninja
注意： 上面這一步需要翻墻才能訪問網(wǎng)址
$ source install_isolated/setup.bash
4.運(yùn)行樣例
1. 下載2D樣例包并運(yùn)行
$ wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
安裝成功：
$ roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
運(yùn)行結(jié)果：
Experimental Experience——實(shí)驗(yàn)心得
在本次實(shí)驗(yàn)中主要是跟著教程安裝與配置cartographer，需要注意的是在首次運(yùn)行時(shí)會報(bào)錯(cuò)，此時(shí)執(zhí)行以下兩句：
$ source ~/catkin_ws/devel/setup.bash
$ rospack profile
即可正常運(yùn)行虑灰。
