Ros + cartographer 安装攻略

step1 安装英文ubuntu14.04 trusty + ros-indigo

step2 ros-indigo 安装参照indigo
1.Setup your sources.list

• sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu trusty main” > /etc/apt/sources.list.d/ros-latest.list’

2.Set up your keys

• sudo apt-key adv –keyserver hkp://ha.pool.sks-keyservers.net: 80 –recv-key 0xB01FA116

3.Installation

• sudo apt-get update

Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

• sudo apt-get install ros-indigo-desktop-full

4.Initialize rosdep

• sudo rosdep init
• rosdep update

5.Environment setup

• echo “source /opt/ros/indigo/setup.bash” >> ~/.bashrc
• source ~/.bashrc

6.Getting rosinstall

• sudo apt-get install python-rosinstall

step3 安装cartographer,每一步都需要注意路径
1.安装依赖包，创建工作空间catkin_ws,参照google-cartographer

• sudo apt-get update
• sudo apt-get install -y python-wstool python-rosdep ninja-build
• ~/$ mkdir catkin_ws
• cd catkin_ws
• ~/catkin_ws/$ wstool init src

• wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall

• rosdep update

• rosdep install - -from-paths src - -ignore-src - -rosdistro=indigo -y

2.编译cartographer-ros之前先装ceres-solver非线性优化包于catkin_ws/src路径下

• ~/catkin_ws/src/$ git clone https://github.com/ceres-solver/ceres-solver.git
• cd ceres-solver
• ~/catkin_ws/src/ceres-solver/$ mkdir build
• cd build
• ~/catkin_ws/src/ceres-solver/build/$ cmake .. -G Ninja
• ninja
• ninja test
• sudo ninja install
  以上第5-8句命令可以由下面命令代替
• cmake ..
• make –j
• sudo make install

3.执行下面语句之前，先将catkin_ws/src/cartographer_ros下的ceres_solver文件删除（否则编译不能通过，注意路径）

• ~/catkin_ws/$ catkin_make_isolated –install –use-ninja
• source install_isolated/setup.bash

4.测试代码，数据包可独立下载放在~/Downloads中

• 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_filenam e:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag