cartographer 编译与运行

最新推荐文章于 2024-07-05 10:37:48 发布

liu_hang_0727

最新推荐文章于 2024-07-05 10:37:48 发布

阅读量4.7k

点赞数

分类专栏： cratographer

本文链接：https://blog.csdn.net/liudahanghang/article/details/82699868

版权

本文档介绍了如何编译和运行Cartographer。在编译过程中遇到libgflags错误，通过调整CXXFLAGS并重新编译libgflags解决。详细步骤包括重新配置cmake，使用'export CXXFLAGS="-fPIC" && cmake .. && make VERBOSE=1'，然后再次执行'catkin_make_isolated --install --use-ninja'以完成编译。

摘要由CSDN通过智能技术生成

编译

# 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 proto3.
src/cartographer/scripts/install_proto3.sh

# 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