谷歌cartographer+EAI的YDLIDAR-X4激光雷达建图实现（一）

ubuntu16.04 ROSUbuntu16.04（kinetic）安装cartographer
1.需要安装3个软件包，ceres solver、cartographer和cartographer_ros。为了管理方便，建立carto目录来存放ceres solver、cartographer。

mkdir -p ~/carto

2.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-indigo-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

3.首先安装ceres solver，选择的版本是1.11

cd ~/carto
git clone https://github.com/hitcm/ceres-solver-1.11.0.git
cd ceres-solver-1.11.0/build #如果build目录不存在，就自己建mkdir build
cmake ..
make –j
sudo make install

4.然后安装 cartographer

cd ~/carto
git clone https://github.com/hitcm/cartographer.git
cd cartographer/build   #如果build目录不存在，就自己建mkdir build
cmake .. -G Ninja    #3
ninja
ninja test
sudo ninja install 

上述第3步执行错误的同学可以忽略3-6步，改用下面的方法。

cmake  ..
make
sudo make install 

5.安装cartographer_ros
谷歌官方提供的安装方法比较繁琐，我对原来的文件进行了少许的修改，核心代码不变，只是修改了编译文件 下载到catkin_ws下面的src文件夹下面

git clone https://github.com/hitcm/cartographer_ros.git

然后到catkin_ws下面运行

$ catkin_make

新包加入环境

$ source ~/.bashrc
$ rospack profile

6.数据下载测试, 并上传到carto目录下。
2d数据，大概500M，用迅雷下载:

https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

然后运行launch文件即可。

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/carto/cartographer_paper_deutsches_museum.bag

2D效果如上图所示。