利用给定数据集运行谷歌Cartographer算法

本文在参考其他博主博文的基础上，对在Cartographer算法曾经出现的运行错误进行了纠错并重新安装编译，最终利用给定的数据集成功运行了谷歌Cartographer算法

1. 安装依赖项

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-indigo-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

2. 安装编译相关包

（1）ceres solver 1.11.0（路径随意）

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

（2）cartographer（路径随意）

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

（3）cartographer_ros

cd catkin_ws_cartographer/src
git clone https://github.com/hitcm/cartographer_ros.git
cd ..
catkin_make

source ~/catkin_ws_cartographer/devel/setup.bash
rospack profile

3. 运行数据集

（1）下载数据集

2d数据

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

3d数据

https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag

（2）运行launch文件

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

roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/data/cartographer_3d_deutsches_museum.bag

参考资料

谷歌Cartographer学习（1）-快速安装测试（特别感谢！）
cartographer安装和使用