cartographer自主建图

        cartographer是google开发的实时室内SLAM项目，其采用基于google自家开发的ceres非线性优化的方法，cartographer的亮点在于代码规范与工程化，非常适合于商业应用和再开发。并且cartographer基于submap子图构建全局地图的思想，能有效的避免建图过程中环境中移动物体的干扰。并且cartographer支持多传感器数据（odometry、IMU、LaserScan等）建图，支持2D_SLAM和3D_SLAM建图。

环境:Ubunt18 VMware虚拟机, ros-melodic

一、安装cartographer及相关环境

cartographer安装教程（超详细，保姆级教程）_顽强的小蜗牛的博客-CSDN博客

etc

二、安装turtlebot3环境

cd　~/catkin_ws/src
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

三、编译

catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

四、启动地图节点

source devel_isolated/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_gazebo turtlebot3_house.launch

五、启动rviz及cartographer节点

source devel_isolated/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer configuration_basename:=turtlebot3_lds_2d_gazebo.lua

六、启动自主建图节点

source devel_isolated/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_gazebo turtlebot3_simulation.launch

参考代码链接：【免费】cartographer自主建图资源-CSDN文库

编译：catkin_make_isolated --install --use-ninja  -j3