Ubuntu16.04 ROS中安装GooGle cartographer教程

从hitcm大神的github下载，亲测有效

首先得装好ros，才能进行cartographer安装

step 1：安装所有依赖项

sudo apt-get install -y google-mock libboost-all-dev  libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev  libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx  ros-kinetic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

step2：安装ceres-solver-1.11.0

git clone https://github.com/hitcm/ceres-solver-1.11.0.git
cd ceres-solver-1.11.0
mkdir build
cd build
cmake ..
make -j4
sudo make install

step3：cartographer（安装在~目录下）

git clone https://github.com/hitcm/cartographer.git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install

step4：安装cartographer_ros

git clone https://github.com/hitcm/cartographer.git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install

step5：安装cartographer_ros

#初始化工作空间，我的工作空间为catkin_ws，如果重名，换一个名字即可
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

#安装cartographer_ros
cd ~/catkin_ws/src
git clone https://github.com/hitcm/cartographer_ros.git
cd ~/catkin_ws
catkin_make

step6：测试

2D数据：https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

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

3D数据：https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag

roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/backpack_3d/b3-2016-04-05-14-14-00.bag

测试结果：