cartographer运行没有map_Cartographer ROS编译安装及相关可执行文件理解

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<