Cartographer源码解析（1）——carto的安装与编译

0.准备工作：

操作系统：ubuntu20.04

ros系统：noetic

官方依赖文档说明： 

https://google-cartographer.readthedocs.io/en/latest/

官方cartographer安装与编译说明：

https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html#building-installation

1.安装依赖

# Install the required libraries that are available as debs.
sudo apt-get update
sudo apt-get install -y \
    clang \
    cmake \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libceres-dev \
    libcurl4-openssl-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libsuitesparse-dev \
    lsb-release \
    ninja-build \
    python3-sphinx \
    stow

# Install Protocol Buffers and Abseil if available.
# No need to build it ourselves.
case "$(lsb_release -sc)" in
    jammy|bullseye)
        sudo apt-get install -y libgmock-dev protobuf-compiler libabsl-dev ;;
    focal|buster)
        sudo apt-get install -y libgmock-dev protobuf-compiler ;;
    bionic)
        ;;
esac

git clone https://github.com/abseil/abseil-cpp.git
cd abseil-cpp
git checkout 215105818dfde3174fe799600bb0f3cae233d0bf # 20211102.0
mkdir build
cd build
cmake -G Ninja \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \
  ..
ninja
sudo ninja install
cd /usr/local/stow
sudo stow absl

VERSION="v3.4.1"

# Build and install proto3.
git clone https://github.com/google/protobuf.git
cd protobuf
git checkout tags/${VERSION}
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

# Build and install Cartographer.
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
CTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install

2.安装cartographer

sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
mkdir catkin_google_ws
cd catkin_google_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
src/cartographer/scripts/install_abseil.sh
sudo apt-get remove ros-${ROS_DISTRO}-abseil-cpp
catkin_make_isolated --install --use-ninja

3.验证

3.1 下载官方数据包

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

3.2 刷新环境变量

cd ~/catkin_google_ws
source install_isolated/setup.sh 

3.3 运行数据包

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

结语 ：

这里先记录下整个cartographer算法包的安装流程，中间下载时肯定会出现各种各样的问题，这些问题以后再去做更新，完毕。