安装步骤如下:(完全follow 官网):
# Install wstool and rosdep. sudo apt-get update sudo apt-get install -y python-wstool python-rosdep ninja-build # Create a new workspace in 'catkin_ws'. mkdir catkin_ws cd catkin_ws wstool init src # Merge the cartographer_ros.rosinstall file and fetch code for dependencies. wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall wstool update -t src # Install deb dependencies. # The command 'sudo rosdep init' will print an error if you have already # executed it since installing ROS. This error can be ignored. sudo rosdep init rosdep update rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y # Build and install. catkin_make_isolated --install --use-ninja source install_isolated/setup.bash
在上面的catkin_make_isolated --install --use-ninja 这一步时遇到一个build error
CMake Error at /home/xxx/catkin_ws/install_isolated/lib/cmake/Ceres/CeresConfig.cmake:88 (message):
Failed to find Ceres - Missing requested Ceres components:
[SparseLinearAlgebraLibrary] (components requested:
解决办法:
在/home/xxx/catkin_ws_cartographer/build_isolated/ceres-solver/install/CMakeCache.txt 里找到EIGENSPARSE:BOOL=OFF , 把OFF 改成ON
重新:
catkin_make_isolated --install --use-ninja就OK.
运行cartographer算法来建图:
下载bag数据:下载2d的bag 数据(要vpn)
mkdir ~/map_data cd ~/map_data wget https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag run cartographer建图: roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/map_data/cartographer_paper_deutsches_museum.bag
过程比较漫长,rqt_graph 查看节点之间的关系,如下图所示:
建的地图长相:todo 补上