cartographer 安装

Ceres-solver 地址 https://github.com/ceres-solver/ceres-solver/tree/1.14.0，注意用的是1.14.0版本的的 不是最新版本的, 我看了下他的CmakeList.txt，可能是因为对eigen3的版本要求太高。

另外PCL版本是1.7的

Cartographer :       https://github.com/cartographer-project/cartographer

Cartographer_ros  :  https://github.com/cartographer-project/cartographer_ros

 

其中protobuf用的是版本3，这个看cartographer的cmakelist.txt能看出来

安装可以永cartograher_ws/src/cartographer/scripts/install_proto3.sh文件安装。

当然其他一些也可以永scripts下的脚本安装，比如我最后报错少了absl，安装脚本也有

install_abseil.sh，不过要一些其他依赖

$ sudo apt-get install stow

$ sudo chmod +x ~/carto_ws/src/cartographer/scripts/install_abseil.sh

$ cd ~/carto_ws/src/cartographer/scripts

$ ./install_abseil.sh

 

先安装ceres-solver1.14.0, 就是新建build 然后 cmake..  make   sudo make install即可，

 

安装cartographer, 这里的前提是我已经安装了ROS

因为已经有了空间catkin_ws, 所以重新建立了一个空间cartographer_ws,

sudo apt update

各种依赖

sudo apt-get install -y \

          g++ \

          git \

          google-mock \

          libboost-all-dev \

          libcairo2-dev \

          libeigen3-dev \

          libgflags-dev \

          libgoogle-glog-dev \

          liblua5.2-dev \

          libsuitesparse-dev \

          ninja-build \

          python-sphinx

 

sudo apt install -y python-wstool python-rosdep ninja-build

mkdir cartographer_ws

cd cartographer_ws

wstool init src

 

wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall

 

wstool update -t src

 

sudo rosdep init

rosdep update

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

src/cartographer/scripts/install_abseil.sh

 

现在在src文件下应该有文件夹cartographer  cartographer_ros, 下面编译

 

catkin_make_isolated --install --use-ninja

source install_isolated/setup.bash

 

 

下载运行官方数据包测试

2D slam

  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

 

 

 

保存地图：

 

先进入工作空间下：source install_isolated/setup.bash

 

如果不先source一下，会报错：

 

root@NanoPi-M1-Plus:~/catkin_ws# rosservice call /finish_trajectory 0

ERROR: Unable to load type [cartographer_ros_msgs/FinishTrajectory].

Have you typed 'make' in [cartographer_ros_msgs]?

 

以下步骤保存地图：

 

    完成轨迹, 不接受进一步的数据：

 

    rosservice call /finish_trajectory 0

 

    序列化保存其当前状态：

 

rosservice call /write_state "{filename: '${HOME}/Downloads/mymap.pbstream'}"

 

    将pbstream转换为pgm和yaml

 

rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${HOME}/Downloads/mymap -pbstream_filename=${HOME}/Downloads/mymap.pbstream -resolution=0.05

 

地图文件所在的目录：与工作空间同目录下的Downloads目录下。

 

 

 

参考：https://blog.csdn.net/weixin_39458342/article/details/103276265

https://blog.csdn.net/m0_37964922/article/details/90636892