ubuntu 20.04下安装cartographer，解决rosdep update等问题踏坑心得

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前言

电脑型号：联想小新pro 13 AMD
电脑双系统
Ubuntu20.04

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提示：以下是本篇文章正文内容，下面案例可供参考

一、ROS安装步骤中的sudo rosdep init和rosdep update问题 ？

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只要这里顺利进行后，在后面安装Cartographer时。在这相同的步骤上可以直接跳过，应该不会出啥问题。

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1.初始化ROS中sudo rosdep init 可能出现的问题及解决方法如下：

a）如果输出如下，则一切顺利，请跳到2、更新rosdep update

b）错误1：如果输出大意为找不到命令，这说明系统还未安装rosdep

// 请输入如下命令：
sudo apt install python-rosdep2

//还是找不到命令请输入：
sudo apt install python3-rosdep2

（这是因为ubuntu20.04一般只预装python3，因此第二条指令往往可以解决这个问题）
再运行sudo rosdep init 即可
c）错误2：ERROR: cannot download default sources list from:https : //http://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.listWebsite may be down.

在终端输入以下指令：

sudo gedit /etc/resolv.conf 

在打开的文件中输入：

把上面的注释掉，前面加个#
nameserver 8.8.8.8 #google域名服务器
nameserver 8.8.4.4 #google域名服务器

再运行sudo rosdep init 即可
d）错误3：ERROR: default sources list file already exists: /etc/ros /rosdep/sources.list.d/20-default.listPlease delete if you wish to re-initialize

这种情况一般是之前装过ROS系统没有卸载干净

在终端输入以下指令（删除初始化文件）：

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list

再运行sudo rosdep init 即可

2.更新rosdep update

此处是做让我头疼的地方，不过在找到一些大佬的解决方案后，我终于成功了。先把链接放上rosdep update 超时失败2021最新解决方法

sudo gedit /etc/hosts
//加入如下的ip可一试

在这里我是采用该链接中的第3个方法成功的，由于我用的版本是noetic，故而这里的python2.7要换成python3
例如： /usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py

sudo gedit /usr/lib/python3/dist-packages/rosdep2/sources_list.py
//1.首先修改rosdep下载资源的脚本文件：把以下行添加到脚本中的download_rosdep_data()函数中，以应用代理服务：
url="https://ghproxy.com/"+url

sudo gedit /usr/lib/python3/dist-packages/rosdistro/__init__.py
//2用同样的方法修改里面的DEFAULT_INDEX_URL参数，如下：
DEFAULT_INDEX_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'

// 同样的方法把“https://ghproxy.com/”添加到网址前：
sudo gedit /usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py 
36行
sudo gedit /usr/lib/python3/dist-packages/rosdep2/sources_list.py
 72行
sudo gedit /usr/lib/python3/dist-packages/rosdep2/rep3.py	
39行
sudo gedit /usr/lib/python3/dist-packages/rosdistro/manifest_provider/github.py 
68行 119行

sudo gedit /usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py
204行添加如下：
gbpdistro_url = "https://ghproxy.com/" + gbpdistro_url

剩下的就是大家耐心的一个个修改了，祝你好运。最后rosdep update成功模样如下：

reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit file:///etc/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit file:///etc/ros/rosdistro/master/rosdep/base.yaml
Hit file:///etc/ros/rosdistro/master/rosdep/python.yaml
Hit file:///etc/ros/rosdistro/master/rosdep/ruby.yaml
Hit file:///etc/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index file:///etc/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Add distro "dashing"
Add distro "eloquent"
Add distro "foxy"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Add distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
updated cache in /home/xxxx/.ros/rosdep/sources.cache

二、安装cartographer的成功过程

1.安装基本工具（wstool，rosdep，ninja）以编译和运行cartographer

在终端输入指令：

sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow

2.创建cartographer的工作空间

在终端输入指令：（catkin_ws是文件夹名称，可以自行更改）

mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src

在此处大概率会报错，从倒数第二句开始，这里的做法是不管他，由于他们表示的意思是要下载几个库，因此我直接把之前下好的库放在工作空间的src文件夹下。如下图所示

此图是经过了ctrl+h后出现的后面两个脚本。主要是下载了这3个文件。这里提供这3个文件的下载链接，或者是可以访问我下好的链接都行，建议用手机热点，下载通过后保存 好三个文件然后下次再次安装可以直接复制到对应文件夹里。

  cd  ~/catkin_ws/src
  git clone https://github.com/googlecartographer/cartographer_ros.git
  git clone https://github.com/googlecartographer/cartographer.git
  git clone https://github.com/ceres-solver/ceres-solver.git

总结这里依次需要安装4个文件，1个功能包，上面3个外加abseil-cpp包和protobuf包这，这两个包建议不要直接复制到/catkin_ws下，可通过下面连接用手机热点下载下来，耐心等待即可。

3.安装cartographer_ros的依赖项

先使用rosdep安装所需的软件包。此处我们之前已经运行过 sudo rosdep init，故这里将显示错误，可以忽略（因为初始化的文件已经存在，无需再次初始化。如果不放心可以回到最上面的“一”中解决）。

1、sudo apt-get update
2、sudo rosdep init
3、rosdep update
4、rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
5、sudo apt-get install -y \
    clang \
    cmake \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libcurl4-openssl-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libsuitesparse-dev \
    lsb-release \
    ninja-build \
    stow 
6、sudo apt-get install libceres-dev
7、sudo apt install libgmock-dev

问题解决：
上面第7可以解决的问题是：

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
GMOCK_LIBRARY
    linked by target "time_conversion_test" in directory /home/mckros/catkin_ws/src/cartographer_ros/cartographer_ros
    linked by target "time_conversion_test" in directory /home/mckros/catkin_ws/src/cartographer_ros/cartographer_ros
    linked by target "msg_conversion_test" in directory /home/mckros/catkin_ws/src/cartographer_ros/cartographer_ros
    linked by target "msg_conversion_test" in directory /home/mckros/catkin_ws/src/cartographer_ros/cartographer_ros
    linked by target "metrics_test" in directory /home/mckros/catkin_ws/src/cartographer_ros/cartographer_ros
    linked by target "metrics_test" in directory /home/mckros/catkin_ws/src/cartographer_ros/cartographer_ros
    linked by target "configuration_files_test" in directory /home/mckros/catkin_ws/src/cartographer_ros/cartographer_ros
    linked by target "configuration_files_test" in directory /home/mckros/catkin_ws/src/cartographer_ros/cartographer_ros

-- Configuring incomplete, errors occurred!
See also "/home/mckros/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/mckros/catkin_ws/build/CMakeFiles/CMakeError.log".
make: *** [Makefile:4520：cmake_check_build_system] 错误 1
Invoking "make cmake_check_build_system" failed

参考连接：https://blog.csdn.net/WEN_LG/article/details/110333384

4.安装必备的库

1）安装abseil-cpp库

在终端输入命令：

cd catkin_ws
src/cartographer/scripts/install_abseil.sh

1、cd abseil-cpp
2、cd build
3、cmake -G Ninja -CMAKE_BUILD_TYPE=Release -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl ..  
4、ninja  
5、sudo ninja install  
6、cd /usr/local/stow  
7、sudo stow absl 

如果提示版本冲突，请输入以下指令先删除旧版本：

sudo apt-get remove ros-${ROS_DISTRO}-abseil-cpp

然后再次执行（此处省略跳过）

src/cartographer/scripts/install_abseil.sh

我这里是没有冲突的，因为版本就装了一个。

2）安装protobuf库

在终端输入命令：

cd catkin_ws
src/cartographer/scripts/install_proto3.sh

1、cd protobuf  
2、mkdir build  
3、cd build  
4、cmake -G Ninja -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DCMAKE_BUI-Dprotobuf_BUIL-D_TESTS=OFFLD_TYPE=Release  ../cmake  
5、ninja  
6、sudo ninja install  

3）安装ceres库

在终端输入命令

1、cd ceres-solver  
2、mkdir build  
3、cd build  
4、cmake .. -G Ninja -DCXX11=ON  
5、ninja  
6、sudo ninja install  

4）安装cartographer库

1、cd cartographer   
2、mkdir build   
3、cd build
4、cmake .. -G Ninja   
5、ninja   
6、sudo ninja install
 

5.编译测试

在终端输入：

catkin_make_isolated --install --use-ninja

链接成功后，即可下载cartographer 例子数据包进行测试,先记得source

source install_isolated/setup.bash

6.下载cartographer 例子数据包

source install_isolated/setup.bash

//revo lds激光雷达
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
//launch文件
roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag

7.launch和lua文件修改

1）launch文件修改
修改地方为两处laser.lua和remap，记住remap的对象要是对应机器人的

<launch>
  <param name="/use_sim_time" value="true" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename laser.lua"//此处为修改的文件名称
      output="screen">
    <remap from="scan" to="scan" />//激光雷达的话题
  </node>

  <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
  
</launch>

2）lua文件修改

主要修改地方为四处对应的坐标系

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",//一般默认为这个
  tracking_frame = "laser",//对应的激光雷达坐标系
  published_frame = "laser",//同上对应的雷达坐标系
  odom_frame = "odom",//一般默认为这个
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = true,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 8.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1

POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 35
POSE_GRAPH.constraint_builder.min_score = 0.65

return options

总结

只要能解决本文中的rosdep update和安装所必备的库就可以实现cartographer的安装，这也是今天成功后比较开心，即兴所写下来的过程，希望大家批评指正！