Ubuntu + ROS 安装Google-Cartographer建图导航测试bag

本博客参照官方网站的安装步骤，非二手以及N手的安装步骤，

安装

安装编译工具,并且更新源

ROS Kinetic/Melodic 使用下面

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build stow

ROS Noetic 使用下面

sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow

创建工作空间

mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src

安装依赖

install cartographer_ros’ dependencies

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

ros如果已经安装可以不执行rosdep init

安装依赖proto3

如果是Ubuntu 16 / ROS Kinetic，则需运行下面script文件，安装proto3

src/cartographer/scripts/install_proto3.sh

安装依赖abseil-cpp

行下面script文件，安装abseil

src/cartographer/scripts/install_abseil.sh

如果已有ROS abseil-cpp，则需先卸载原有版本

sudo apt-get remove ros-${ROS_DISTRO}-abseil-cpp

编译工程

Build and install.

catkin_make_isolated --install --use-ninja

安装问题及解决

本人亲测，ubuntu16.04 安装没有问题，
安装途中遇到一些问题及解决

测试

Running Cartographer ROS on a demo bag

2D

下载2D数据包：museum.bag

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

运行成功后会打开UI界面，并开始对数据集进行SLAM分析，运行截图如下所示：

3D

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag

运行效果图：

数据包wget异常

xx@ubuntu:~/catkin_ws$ wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag
... ...
Unable to establish SSL connection.

解决方法：请参考链接
SSL问题解决