cartographer 安装编译

Ubuntu16.04 环境依赖

  sudo apt-get install -y \
    clang \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libcurl4-openssl-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libsuitesparse-dev \
    ninja-build \
    python-sphinx

安装ceres-solver

mkdir cartographer_ws/src  -p
Cd  cartographer_ws 
git clone https://github.com/ceres-solver/ceres-solver.git 
Cd ceres-solver
git checkout tags/1.13.0
mkdir build
cd build
cmake .. -G Ninja -DCXX11=ON
ninjaCTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install

注意:如果用ninja 编译出错，则用标准c++ 编译方法，

cd build
cmake ..
Make
Sudo make install

 

安装protobuf 3.4.1

cd cartographer_ws
git clone https://github.com/google/protobuf.git
cd protobuf
git checkout tags/v3.4.1
mkdir build
cd build
cmake -G Ninja \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_BUILD_TYPE=Release \
  -Dprotobuf_BUILD_TESTS=OFF \
  ../cmake

ninja
sudo ninja install

 

安装cartographer

cd cartographer_ws
Git clone https://github.com/googlecartographer/cartographer.git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninjaCTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install

注意:如果用ninja 编译出错，则用标准c++ 编译方法

安装cartographer_ros

cd cartographer_ws/src
Git clone https://github.com/googlecartographer/cartographer_ros.git 
cd cartographer_ws
catkin_make_isolated 

下载bag 数据包，并运行算法验证运行是否正常

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