Cartographer ROS for TurtleBots Building & Installation

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. This repository provides Cartographer SLAM for TurtleBots via Cartographer ROS.

Building & Installation

Installation has been tested on Ubuntu 14.04 (Trusty) with ROS Indigo, but may also work on Ubuntu 16.04 (Xenial) with ROS Kinetic. We recommend using wstool and rosdep. For faster builds, we also recommend using Ninja.

# Install wstool and rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

# Create a new workspace in 'catkin_ws'.
mkdir catkin_ws
cd catkin_ws
wstool init src

# Merge the cartographer_turtlebot.rosinstall file and fetch code for dependencies.
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall
wstool update -t src

# Install deb dependencies.
rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
#eg:rosdep install --from-paths src --ignore-src --rosdistro kinetic -y

# Build and install.
catkin_make_isolated --install --use-ninja      安装到此工作区
source install_isolated/setup.bash

OR

# Build and install in ros
$ sudo su
$[sudo] password for <user>:
$ source /home/<user>/<user_catkin_workspace>/devel/setup.bash

OR

$ source /opt/ros/<distro>/setup.bash
catkin_make_isolated --install --use-ninja --install-space /opt/ros/kinetic
#catkin_make_isolated --help