一、编译安装Cartographer ROS
ROS版本为kinetic, 系统为Ubuntu16.04 ,工作空间名称为 catkin_ws。
Cartographer ROS Building & Installation
1、安装wstool and rosdep ninja(编译Cartographer ROS, 官网推荐使用
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
2、新建一个cartographer_ros 工作区(catkin_ws)
mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/
cartographer_ros.rosinstall
wstool update -t src
这步运行后如果报ceres-solver无法获取,不必着急。进入catkin_ws/src/目录后 vim .rosinstall,如下:
- git:
local-name: cartographer
uri: https://github.com/googlecartographer/cartographer.git
version: 1.0.0
- git:
local-name: cartographer_ros
uri: https://github.com/googlecartographer/cartographer_ros.git<