1 算法框架
2 建立debug工程
cartographer 版本是在1.0以后,本人fork的是2021.0.25的版本,commit id:0d2bc2ca5b834ddd03504454d0a43b9f67c20455.
https://github.com/BurryChen/cartographer_ros.git
https://github.com/BurryChen/cartographer.git
命令行编译方式
catkin_make_isolated --install --use-ninja -DCMAKE_BUILD_TYPE=Debug -DFORCE_DEBUG_BUILD=True
VS code配置tasks.json
{
"version": "2.0.0",
"tasks": [
{
"type": "catkin_make_isolated",
"args": [
"--install",
"--use-ninja",
"-DCMAKE_BUILD_TYPE=Debug",
"-DFORCE_DEBUG_BUILD=True",
"--directory",
"/home/chenshoubin/cartographer_ws"
],
"problemMatcher": [
"$catkin-gcc"
],
"group": "build",
"label": "catkin_make_isolated: build"
}
]
}
VS code配置tasks.json
{
"version": "0.2.0",
"configurations": [
{
"name": "ROS: Launch",
"type": "ros",
"request": "launch",
"target": "/home/chenshoubin/cartographer_ws/src/cartographer_ros/cartographer_ros/launch/demo_turtlebot3_lds_2d_gazebo.launch"
}
]
}