Google Cartographer的正确安装方式

Google Cartographer的正确安装方式

昨天装了google cartographer，连着遇到了几个坑，不过忘了截图
任何出现proto2，proto3什么的报错，一定是Protobuf没装好
直接用脚本装没用，必须下源码，编译安装才管用，目标版本号是3.6.1
事不宜迟，直接描述正确的安装流程：

安装protobuf3

# 首先安装protobuf
sudo apt-get install autoconf autogen
git clone https://github.com/protocolbuffers/protobuf.git
cd protobuf
git submodule update --init --recursive
./autogen.sh
./configure
make
# 这一步可能会报错，无视就好
make check
sudo make install
sudo ldconfig # refresh shared library cache.

这里可以通过来检查一下安装后protobuf的版本，目前是3.6.1

protoc --version
libprotoc 3.6.1

可以添加一个环境变量来确保链接到正确的prtobuf版本，不过不加似乎也没问题(o´ω`o)

which protoc
/usr/local/bin/protoc
export PROTOBUF_PROTOC_EXECUTABLE=/usr/local/bin/protoc

安装Cartographer

# Install wstool and rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

# Create a new workspace in 'catkin_ws'.
mkdir catkin_ws
cd catkin_ws
wstool init src

# Merge the cartographer_turtlebot.rosinstall file and fetch code for dependencies.
# the first one give me turtlebot stuff, the second one give me the newest repo.
# 第一个repo提供了turtlebot相关的功能，第二个repo是官方最新的repo
# 如果想要使用turtlebot功能，就要先update第一个链接，然后update第二个
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall
wstool update -t src
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src


# Install deb dependencies.
# The command 'sudo rosdep init' will print an error if you have already
# executed it since installing ROS. This error can be ignored.
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# Build and install.
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

Demo

官方提供了很多包包可以试着跑跑看看效果
然而因为某些不可描述的原因，国内大概不是很方便下载→_→
另外每个包都超大的。。。下了好久啊

turtlebot相关的demo

# Download the example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/turtlebot/cartographer_turtlebot_demo.bag

# Launch the 2D LIDAR demo.
roslaunch cartographer_turtlebot demo_lidar_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

# Launch the 2D depth camera demo.
roslaunch cartographer_turtlebot demo_depth_camera_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

# Launch the 3D depth camera demo.
roslaunch cartographer_turtlebot demo_depth_camera_3d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

官方提供的其他demo：

Deutsches Museum

# Download and launch the 2D backpack demo:
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

# Download and launch the 3D backpack demo:
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag

Pure localization

Pure localization uses 2 different bags. The first one is used to generate the map, the second to run pure localization.

# Download the 2D bags from the Deutsche Museum:
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-05-14-44-52.bag
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-27-12-31-41.bag

# Generate the map (wait until cartographer_offline_node finishes) and then run pure localization:
roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag
roslaunch cartographer_ros demo_backpack_2d_localization.launch \
   load_state_filename:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag.pbstream \
   bag_filename:=${HOME}/Downloads/b2-2016-04-27-12-31-41.bag

# Download the 3D bags from the Deutsche Museum:
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-13-54-42.bag
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-15-52-20.bag

# Generate the map (wait until cartographer_offline_node finishes) and then run pure localization:
roslaunch cartographer_ros offline_backpack_3d.launch bag_filenames:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag
roslaunch cartographer_ros demo_backpack_3d_localization.launch \
   load_state_filename:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag.pbstream \
   bag_filename:=${HOME}/Downloads/b3-2016-04-05-15-52-20.bag

Static landmarks

# Download the landmarks example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/mir/landmarks_demo_uncalibrated.bag

# Launch the landmarks demo.
roslaunch cartographer_mir offline_mir_100_rviz.launch bag_filename:=${HOME}/Downloads/landmarks_demo_uncalibrated.bag

Revo LDS

Download and launch an example bag captured from a low-cost Revo Laser Distance Sensor from Neato Robotics vacuum cleaners:

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

PR2

Download and launch an example bag captured from a PR2 R&D humanoid robot from Willow Garage:

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag
roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag

Taurob Tracker

Download and launch an example bag captured from a Taurob Tracker teleoperation robot:

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag
roslaunch cartographer_ros demo_taurob_tracker.launch bag_filename:=${HOME}/Downloads/taurob_tracker_simulation.bag

参考链接：

https://google-cartographer-ros.readthedocs.io/en/latest/index.html
https://google-cartographer-ros-for-turtlebots.readthedocs.io/en/latest/#
https://github.com/googlecartographer
https://google-cartographer.readthedocs.io/en/latest/
https://github.com/googlecartographer/cartographer_ros/issues/687
https://github.com/protocolbuffers/protobuf/blob/master/src/README.md