cartographer turtlebot的编译、安装和运行

接着上一篇博客继续：https://blog.csdn.net/Jinxiaoyu886/article/details/90215630
如果还没有安装cartographer、ceres solver、cartographer和cartographer_ros。
可以把下面这个命令
$ wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
替换成：
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall
其余的不变 按照之前的走就行了。

运行例子：

Download the example bag.（下载例子） wget -P ~/Downloads
https://storage.googleapis.com/cartographer-public-data/bags/turtlebot/cartographer_turtlebot_demo.bag

Launch the 2D LIDAR demo.（2D雷达DEMO）
$ roslaunch cartographer_turtlebot demo_lidar_2d.launch
bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

Launch the 2D depth camera demo.（2D深度相机DEMO）
$ roslaunch cartographer_turtlebot demo_depth_camera_2d.launch
bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

Launch the 3D depth camera demo.（3D深度相机DEMO）
$ roslaunch cartographer_turtlebot demo_depth_camera_3d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

DEBUG

在运行例子时，如果出现

ERROR: cannot launch node of type [cartographer_ros/cartographer_node]: can't locate node [cartographer_node] in package [cartographer_ros]
ERROR: cannot launch node of type [cartographer_ros/cartographer_occupancy_grid_node]: can't locate node [cartographer_occupancy_grid_node] in package [cartographer_ros]
ERROR: cannot launch node of type [cartographer_turtlebot/cartographer_flat_world_imu_node]: can't locate node [cartographer_flat_world_imu_node] in package [cartographer_turtlebot]

类似与上述的错误。
第一、 检查你的包路径是否已经在ROS路径之中，通过vim ～/.bashrc 可以添加修改。
第二、 回到根目录，cd进你的工作空间，输入：
$ source devel/setup.bash
$ source install_isolated/setup.bash
这两句很重要，如果失败就关闭终端重新来一次，这两句话是要在每次运行前都要输入的。

对于第二个例子，2D深度相机DEMO，在运行时候会出现
ERROR: cannot launch node of type [depthimage_to_laserscan]: can't locate node [depthimage_to_laserscan] in package [depthimage_to_laserscan]
这个错误提示我们是缺少depthimage_to_laserscan包。

在终端输入
$ sudo apt-get install ros-kinetic-depthimage-to-laserscan
$ git clone https://github.com/ros-perception/depthimage_to_laserscan
然后在cd进包里，用cmake编译，然后make， sudo make install。 最后在bashrc里添加环境路径。
然后就可以运行了。
祝大家好运！