https://download.csdn.net/download/v7xyy/10896486
https://github.com/xiangkejun/mapping
使用的是cartographer1.0
目前只用了一个二维激光进行栅格地图创建。
建图程序包
catographer安装步骤:
1. 放在 src/ 下
https://github.com/googlecartographer/cartographer_ros/tree/1.0.0
https://github.com/googlecartographer/cartographer/tree/1.0.0
https://github.com/ceres-solver/ceres-solver/tree/1.13.0
2.protobuf 放在 cartographer1.0_ws/ 下
https://github.com/google/protobuf/tree/v3.5.0
3.修改/src/cartographer-1.0.0/scripts/install_proto3.sh
#!/bin/sh
# Copyright 2016 The Cartographer Authors
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
set -o errexit
set -o verbose
VERSION="v3.5.0"
# Build and install proto3.
#git clone https://github.com/google/protobuf.git
cd protobuf-3.5.0
#git checkout tags/${VERSION}
mkdir build
cd build
cmake -G Ninja \
-DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-DCMAKE_BUILD_TYPE=Release \
-Dprotobuf_BUILD_TESTS=OFF \
../cmake
ninja
sudo ninja install
4.编译
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
src/cartographer-1.0.0/scripts/install_proto3.sh
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
catkin_make_isolated --install --use-ninja -j3