slam系统安装

1. ubuntu安装

/ 	    100G左右 	ext4 	主分区
swap 	物理内存两倍 	swap 	逻辑分区
/boot 	1G 	        ext4 	逻辑分区
/home 	260G左右 	ext4 	逻辑分区

2. ubuntu基本配置

//换成国内源
sudo apt-get update
sudo apt-get install git
sudo apt-get install cmake

nvidia driver && cuda && zed install

//  forbid nouvea  doubt 
//sudo gedit  /etc/modprobe.d/blacklist.conf
//add           blacklist nouneau
//sudo update-initramfs -u
software & internet
third driver
nvidia driver
// cuda
sudo sh cuda_10.0.130_410.48_linux.run
// default  install
export PATH=/usr/local/cuda-10.0/bin${PATH:+:${PATH}}
export LD_LIBRARY_PATH=/usr/local/cuda-10.0/lib64\${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}           
export LD_LIBRARY_PATH=/usr/local/cuda-10.0/lib\${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}  
sudo apt-get install g++ freeglut3-dev build-essential libx11-dev libxmu-dev libxi-dev libglu1-mesa libglu1-mesa-dev
// test          cd NVIDIA_CUDA-10.0_Samples/2_Graphics/volumeRender
make 
./volumeRender
// zed install
// zed guanwang install
chmod +777 ZED_SDK_Ubuntu18_cuda10.0_v3.3.3.run
./ZED_SDK_Ubuntu18_cuda10.0_v3.3.3.run

3. evo安装

sudo apt-get install python-pip
pip install  -i https://pypi.tuna.tsinghua.edu.cn/simple --editable . --upgrade --no-binary evo
sudo apt-get install tk-dev
sudo apt-get install python-tk

4. pangolin安装

sudo apt-get install libglew-dev
sudo apt-get install libpython2.7-dev
mkdir build
cd build
cmake ..
make -j32
sudo make install

kalibr安装

sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-indigo-vision-opencv ros-indigo-image-transport-plugins ros-indigo-cmake-modules python-software-properties software-properties-common libpoco-dev python-matplotlib python-scipy python-git python-pip ipython libtbb-dev libblas-dev liblapack-dev python-catkin-tools libv4l-dev
sudo apt-get install -y byacc
sudo python -m pip install --upgrade --force pip
sudo pip install python-igraph  -i https://pypi.tuna.tsinghua.edu.cn/simple 
//编译 kalibr
catkin config --merge-devel 
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
cd ~/kalibr_workspace
catkin build -DCMAKE_BUILD_TYPE=Release -j18

删sudo

sudo rm /var/lib/dpkg/lock-frontend
sudo rm /var/lib/dpkg/lock

sougoupinyin

sudo apt-get install -f 
sudo dpkg -i sogoupinyin_2.3.1.0112_amd64.deb 

5. eigen安装

sudo apt-get install libeigen3-dev 

6. opecv3.4.1+contrib 安装

//依赖
sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev  libdc1394-22-dev
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt install libjasper1 libjasper-dev
//编译
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release –D CMAKE_INSTALL_PREFIX=/usr/local   -D OPENCV_EXTRA_MODULES_PATH=/home/lgt/workspace/opencv-3.4.1/opencv_contrib/modules/ ..
make –j32
sudo make install
//配置系统环境
sudo gedit /etc/ld.so.conf.d/opencv.conf 
//输入
/usr/local/lib  
//结束
sudo ldconfig  
sudo gedit /etc/bash.bashrc  
//输入
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig  
export PKG_CONFIG_PATH
//结束
source /etc/bash.bashrc  
sudo updatedb    

PCL install

在这里插入代码片

ros kinetic install

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
gedit /etc/hosts
# at the end of file add     199.232.28.133 raw.githubusercontent.com
sudo rosdep init
rosdep update
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control
sudo apt-get install ros-kinetic-turtlebot-*

//turtlebot run
roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_teleop keyboard_teleop.launch --screen
roslaunch turtlebot_gazebo gmapping_demo.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch

octomap install

sudo apt-get install libqt4-dev qt4-qmake 
git clone https://github.com/OctoMap/octomap
mkdir build
cd build
cmake ..
make -j32
sudo make install

sudo apt-get install ros-kinetic-octomap ros-kinetic-octomap-mapping ros-kinetic-octomap-msgs ros-kinetic-octomap-ros ros-kinetic-octomap-rviz-plugins ros-kinetic-octomap-server

7. ORB_SLAM2安装

chmod +777 build.sh
./build.sh
// ros install
sudo gedit ~/.bashrc
add   export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/lgt/ORB_SLAM2_modified/Examples/ROS
source ~/.bashrc
chmod +777 build_ros.sh
./build_ros.sh

8. cartographer安装

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
sudo apt-get install cmake
sudo apt-get install build-essential
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libatlas-base-dev
sudo apt install lua5.2
mkdir cartographer_ws
cd cartographer_ws
mkdir src
cd src
//把cartographer、cartographer_ros和ceres放入src文件夹下
//ceres安装
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libsuitesparse-dev
sudo apt-get install libmetis-dev

cd ceres-solver
mkdir build
cd build
cmake ..
make -j38 
make test 
sudo make install
//将下载好的protobuf放在cartographer/scripts/目录下
cd protobuf
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
//进入 cartographer_ws空间
cd cartographer_ws
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

重新分区

https://blog.csdn.net/weixin_41018348/article/details/82592057

ros melodic

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
// china source
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
//
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-melodic-desktop-full
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdep
sudo rosdep init
// if can't load
sudo gedit /etc/hosts
//在文件末尾添加
151.101.84.133  raw.githubusercontent.com
sudo rosdep init
rosdep update

参考文献

ubuntu 14.04 64位 安装Opencv3.4.1 （包含opencv_contrib模块）