cartographer安装记录

说明 本文参考博客https://www.cnblogs.com/yhlx125/p/8025293.html  并将安装过程以及出现问题记录下来

1 建立ros工作空间catkin_ws

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
echo "source /home/name/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

 

2  下载源码cartographer、cartographer_ros、ceres源码。并存放在catkin_ws/src下

 https://github.com/ceres-solver/ceres-solver

https://github.com/googlecartographer/cartographer

https://github.com/googlecartographer/cartographer_ros

3 下载proto3源码并编译安装了，路径任意

  https://github.com/google/protobuf

4 安装其她依赖项：

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

5 编译安装

cd ~/catkin_ws
catkin_make_isolated --install --use-ninja

6 添加环境变量

vi ~/.bashrc

 source ~/catkin_ws/install_isolated/setup.bash

 

注：编译过程可能出现的问题

 编译代码时出现/usr/include/boost/type_traits/detail/has_binary_operator.hp:50: Parse error at "BOOST_JOIN"错误

解决方法：

修改/usr/include/boost/type_traits/detail/has_binary_operator.hpp文件

将namespace BOOST_JOIN(BOOST_TT_TRAIT_NAME,_impl) {

..

}

改为

#ifndef Q_MOC_RUN
namespace BOOST_JOIN(BOOST_TT_TRAIT_NAME,_impl) {
#endif

...

#ifndef Q_MOC_RUN
}
#endif