SLAM开发工具：ROS-noetic安装Google的Cartographer

写在最前

• 1. 本文建议在不能科学上网的同学，最好采用手机热点进行安装
• 2. 如果你的ROS环境是刚刚安装好，不怕乱动的最好了
• 3. rosdep更新：可以采用sudo pip3 install rosdepc
• 4. 文中所有的命令路径都无需切换

参考内容：
【安装学习】安装Cartographer ROS（noetic）
安装cartographer步骤及问题解决

1. 创建工作空间并初始化

• 1. 创建工作空间：mkdir -p ~/catkin_google_ws/src
• 2. 跳转到工作空间：cd ~/catkin_google_ws/src/
• 3. 在2的命令下，初始化工作空间catkin_init_workspace

pc@pc:~$ mkdir -p ~/catkin_google_ws/src
pc@pc:~$ ls
catkin_google_ws  Documents  Music     Public     Videos
Desktop           Downloads  Pictures  Templates
pc@pc:~$ cd ~/catkin_google_ws/src/
pc@pc:~/catkin_google_ws/src$ catkin_init_workspace 
Creating symlink "/home/pc/catkin_google_ws/src/CMakeLists.txt" pointing to "/opt/ros/noetic/share/catkin/cmake/toplevel.cmake"

2. 安装下载工具并下载谷歌Cartographer

• 4. 更新一下软件源：sudo apt-get update
• 5. 安装下载工具：sudo apt install -y python3-wstool ninja-build stow
• 6. 切换到工作空间：cd ~/catkin_google_ws/
• 7. wstool工具初始化工作空间：wstool init src

pc@pc:~/catkin_google_ws$ sudo apt install -y python3-wstool ninja-build stow
... ...
Creating config file /etc/mercurial/hgrc.d/hgext.rc with new version
Processing triggers for libc-bin (2.31-0ubuntu9.2) ...
Processing triggers for man-db (2.9.1-1) ...
Processing triggers for install-info (6.7.0.dfsg.2-5) ...
Processing triggers for desktop-file-utils (0.24-1ubuntu3) ...
Processing triggers for mime-support (3.64ubuntu1) ...
Processing triggers for gnome-menus (3.36.0-1ubuntu1) ...
pc@pc:~/catkin_google_ws/src$ cd ~/catkin_google_ws/
pc@pc:~/catkin_google_ws$ wstool init src
Writing /home/pc/catkin_google_ws/src/.rosinstall

update complete.

• 8. 工作空间下merge远程的代码库：wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall，merge代码出错查看第4.1节内容
• 9. wstool工具更新源文件：wstool update -t src，由于github的不稳定性，这一步多半失败，更新出错见4.2解决方法
• 10. 安装abseil cpp库：切换到工作空间目录：cd ~/catkin_google_ws/，输入命令src/cartographer/scripts/install_abseil.sh，安装库
• 11. 安装依赖项：rosdep install --from-paths ~/catkin_google_ws/src --ignore-src -r，该命令主要替代rosdep install --from-paths src --ignore-src --rosdistro=noetic -y,但是后续可能弄乱环境，需要重新安装ROS，即sudo apt install ros-noetic-desktop-full

pc@pc:~/catkin_google_ws$ rosdep install --from-paths src --ignore-src --rosdistro=noetic -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
cartographer: [libabsl-dev] defined as "not available" for OS version [focal]

• 12. 编译Cartographer：catkin_make_isolated --install --use-ninja，这一个最关键，不报错，说明catrograppher部署成功了，那么恭喜你，可以开始Cartographer的学习了！

pc@pc:~/catkin_google_ws$ catkin_make_isolated --install --use-ninja
... ....
-- Installing: /home/pc/catkin_google_ws/install_isolated/share/cartographer_rviz/rviz_plugin_description.xml
-- Installing: /home/pc/catkin_google_ws/install_isolated/share/cartographer_rviz/ogre_media
-- Installing: /home/pc/catkin_google_ws/install_isolated/share/cartographer_rviz/ogre_media/materials
-- Installing: /home/pc/catkin_google_ws/install_isolated/share/cartographer_rviz/ogre_media/materials/glsl120
-- Installing: /home/pc/catkin_google_ws/install_isolated/share/cartographer_rviz/ogre_media/materials/glsl120/submap.frag
-- Installing: /home/pc/catkin_google_ws/install_isolated/share/cartographer_rviz/ogre_media/materials/glsl120/submap.vert
-- Installing: /home/pc/catkin_google_ws/install_isolated/share/cartographer_rviz/ogre_media/materials/glsl120/glsl120.program
-- Installing: /home/pc/catkin_google_ws/install_isolated/share/cartographer_rviz/ogre_media/materials/scripts
-- Installing: /home/pc/catkin_google_ws/install_isolated/share/cartographer_rviz/ogre_media/materials/scripts/submap.material
<== Finished processing package [4 of 4]: 'cartographer_rviz'

3. 测试Cartographer

3.1 下载官方的二维模型

• 13. 下载模型可以用wget方式或者直接http下载，下载的位置就在工作空间下：wget -P ~/catkin_google_ws/ https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

3.2 测试运行Cartographer

• 14. 激活环境，激活环境前确保你的catrographer项目是编译通过的，即第12步不报错：source devel_isolated/setup.bash
• 15. 启动官方demo：roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/catkin_google_ws/cartographer_paper_deutsches_museum.bag

pc@pc:~/catkin_google_ws$ source devel_isolated/setup.bash
pc@pc:~/catkin_google_ws$ roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/catkin_google_ws/cartographer_paper_deutsches_museum.bag

4. 错误解决办法，和附件

4.1 merge代码出错解决

• 在第8步中，merge代码多半出现

pc@pc:~/catkin_google_ws$ wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
ERROR in config: Unable to download URL [https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall]: <urlopen error [Errno 111] Connection refused>

• 此时复制https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall连接也发现进不去，多半肯定是不成功
  
• 方法一：换手机热点多试几次，能成功
• 方法二：直接跑到src的目录下，添加需要merge的信息：
• 8.1 进入src目录：cd ~/catkin_google_ws/src/，输入ls -a可以查看是否有.rosinstall文件
• 8.2 编辑.rosinstall文件：sudo gedit ~/catkin_google_ws/src/.rosinstall，保存关闭，进入第九步：

# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2022-10-27
- git: {local-name: cartographer, uri: 'https://github.com/cartographer-project/cartographer.git', version: 'master'}
- git: {local-name: cartographer_ros, uri: 'https://github.com/cartographer-project/cartographer_ros.git', version: 'master'}

4.2 wstool update -t src报错解决办法

• 报错内容：

pc@pc:~/catkin_google_ws$ wstool update -t src
[cartographer] Fetching https://github.com/cartographer-project/cartographer.git (version master) to /home/pc/catkin_google_ws/src/cartographer
Cloning into '/home/pc/catkin_google_ws/src/cartographer'...
fatal: unable to access 'https://github.com/cartographer-project/cartographer.git/': Failed to connect to github.com port 443: Connection refused
[cartographer_ros] Fetching https://github.com/cartographer-project/cartographer_ros.git (version master) to /home/pc/catkin_google_ws/src/cartographer_ros
Cloning into '/home/pc/catkin_google_ws/src/cartographer_ros'...
fatal: unable to access 'https://github.com/cartographer-project/cartographer_ros.git/': Failed to connect to github.com port 443: Connection refused
Exception caught during install: Error processing 'cartographer' : [cartographer] Checkout of https://github.com/cartographer-project/cartographer.git version master into /home/pc/catkin_google_ws/src/cartographer failed.
Error processing 'cartographer_ros' : [cartographer_ros] Checkout of https://github.com/cartographer-project/cartographer_ros.git version master into /home/pc/catkin_google_ws/src/cartographer_ros failed.

ERROR in config: Error processing 'cartographer' : [cartographer] Checkout of https://github.com/cartographer-project/cartographer.git version master into /home/pc/catkin_google_ws/src/cartographer failed.
Error processing 'cartographer_ros' : [cartographer_ros] Checkout of https://github.com/cartographer-project/cartographer_ros.git version master into /home/pc/catkin_google_ws/src/cartographer_ros failed.

pc@pc:~/catkin_google_ws$

• 解决方法：

• 1. 切换热点多试几次
• 2. 直接进入GitHub下载文件夹：https://github.com/cartographer-project，可以看到几个文件，将两个C++文件进入到下载页面下载下来https://github.com/cartographer-project/cartographer，https://github.com/cartographer-project/cartographer_ros
     
     
• 3. 将两个文件解压到catkin_google_ws/src下，看到文件夹后面有尾缀master，删除-master：

4.3 一些附件

一些需要GITHUB下载的内容