下载和安装
(cartographer_ros:https://github.com/cartographer-project/cartographer_ros
解压命名为 cartographer_ros,存放在~/Dowloads文件夹里面)
//导入工程
sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
mkdir ~/cartographer_ws
cd ~/cartographer_ws
mkdir catkin_ws
cd catkin_ws
wstool init src
cp -r ~/Dowloads/cartographer_ros ~/cartographer_ws/catkin_ws/src
wstool update -t sr
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
//安装required libraries
cd ~/cartographer_ws
sudo apt-get update
sudo apt-get install -y \
clang \
cmake \
g++ \
git \
google-mock \
libboost-all-dev \
libcairo2-dev \
libceres-dev \
libcurl4-openssl-dev \
libeigen3-dev \
libgflags-dev \
libgoogle-glog-dev \
liblua5.2-dev \
libsuitesparse-dev \
lsb-release \
ninja-build \
python3-sphinx \
stow
git clone https://github.com/abseil/abseil-cpp.git
cd abseil-cpp
git checkout 215105818dfde3174fe799600bb0f3cae233d0bf
mkdir build
cd build
cmake -G Ninja \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \
..
ninja
sudo ninja install
cd /usr/local/stow
sudo stow absl
//编译
cd ~/cartographer_ws/catkin_ws
catkin_make_isolated --install --use-ninja
测试
//下载2D地图数据包
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
cd ~/cartographer_ws/catkin_ws
source install_isolated/setup.bash
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag