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