cartographer安装教程
一 cartographer安装教程
方法一:基于二进制安装
sudo apt-get update
sudo apt-get install ros-melodic-cartographer* //安装全部关于cartographer的包
方法二:基于源码安装
1 安装工具
sudo apt-get update
提示有错误:
E: 仓库 “http://ppa.launchpad.net/v-launchpad-jochen-sprickerhof-de/pcl/ubuntu bionic Release” 没有 Release 文件。
sudo apt-get install -y python-wstool python-rosdep ninja-build
2 建立工作空间并进行初始化
mkdir catkin_ws_cartographer
cd catkin_ws_cartographer/
wstool init src
3 加入cartographer_ros.rosinstall并更新依赖
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
gedit catkin_ws/src/.rosinstall
将最后一个git来源网址由https://ceres-solver.googlesource.com/ceres-solver.git改为https://github.com/ceres-solver/ceres-solver.git,如该果可以挂VPN可以不改。
gedit catkin_ws/src/cartographer_ros/cartographer_ros.rosinstall
修改cartographer_ros.rosinstall的内容,将https://ceres-solver.googlesource.com/ceres-solver.git改为https://github.com/ceres-solver/ceres-solver.git
wstool update -t src
4 安装依赖并下载cartographer相关功能包
安装cartographer_ros的依赖项(proto3和deb软件包)。如果安装ROS之后已经执行过’sudo rosdep init’,则将显示错误。该错误可以忽略。
src/cartographer/scripts/install_proto3.sh
rosdep update
失败的时候就多尝试几次,有可能是网速不好的原因
rosdep install --from-paths src --ignore-src --rosdistro=melodic -y
5 编译并安装
catkin_mak