ROS中安装使用cartographer

一、在安装cartographer前，需要系统满足如下的要求：

·        64-bit, modern CPU (e.g. 3rd generation i7)

·        16 GB RAM

·        Ubuntu 14.04 (Trusty)

·        gcc version 4.8.4

·        ROS Indigo

本人是自己设计制作的机器人平台，只有一个激光雷达传感器URG-04LX-UG01。本人就是利用这个传感器实现的SLAM。

二、安装过程及命令：

# Install wstool and rosdep.

sudo apt-getupdate

sudo apt-getinstall -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 fetchcode for dependencies.

wstool merge -tsrchttps://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall

wstool update -tsrc

 

# Install deb dependencies.

rosdep update

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

 

# Build and install.