ubuntu 16.04 cartographer

参考：https://blog.csdn.net/qq_40982681/article/details/91358033?depth_1-utm_source=distribute.pc_relevant.none-task&utm_source=distribute.pc_relevant.none-task

https://www.cnblogs.com/hitcm/p/5939507.html

 

安装依赖：

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-kinetic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

 安装ceres

git clone https://github.com/hitcm/ceres-solver-1.11.0.git
cd ceres-solver-1.11.0
mkdir build
cd build
cmake ..
make -j4
sudo make install

安装 cartographer

git clone https://github.com/hitcm/cartographer.git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install

安装cartographer_ros

#初始化工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
echo "source catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

#安装cartographer_ros
cd ~/catkin_ws/src
git clone https://github.com/hitcm/cartographer_ros.git
cd ~/catkin_ws
catkin_make

 

catkin_make -DCMAKE_BUILD_TYPE=Release

 

数据下载测试:右键迅雷下载，网页下载太慢

2d数据链接：https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

3d数据链接：https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag

下载好之后，进入数据集的路径，打开终端，运行roslaunch cartographer_ros指令，如下所示：

运行launch文件即可
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=/home/jankin/dashgo_ws/src/cartographer_ros/cartographer_rviz/2d.bag