cartographer代码解读1_概述

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

VScode 搭建ROS开发环境并调试

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"
        }

    ]
}