ROS进阶学习（六）-- 谷歌Cartographer安装测试1

由于slam_gmapping对里程计的严重依赖建图效果并不理想，尝试谷歌的Cartographer。再不使用OpenCV,PCL，g2o这些流量杀手的情况下能建出如此效果的地图还是让人惊叹的。简单说下原理：就是用Grid（2D/3D）的形式建地图；局部匹配直接建模成一个非线性优化问题，利用IMU提供一个比较靠谱的初值；后端用Graph来优化，用分支定界算法来加速；2D和3D的问题统一在一个框架下解决。（引用知乎--邵天兰）

0.安装所有依赖项

 

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

1.首先安装ceres solver，选择的版本是1.11,路径随意

 

1.     git clone https://github.com/hitcm/ceres-solver-1.11.0.git

2.      cd ceres-solver-1.11.0/build

3.      cmake ..

4.      make –j

5.      sudo make install

2.然后安装 cartographer,路径随意

 

 

1.      git clone https://github.com/hitcm/cartographer.git

2 .     cd cartographer/build

3.       cmake .. -G Ninja

4        DProtobuf_DIR="/usr/local/lib/cmake/protobuf/" -DPROTOBUF_INCLUDE_DIR="/usr/local/include/google/protobuf/" -DPROTOBUF_LIBRARY="/usr/local/lib/libprotobuf.a"

4.       ninja

5.       CTEST_OUTPUT_ON_FAILURE=1 ninja test

6.       sudo ninja install 

3.安装cartographer_ros。

 

谷歌官方提供的安装方法比较繁琐，我对原来的文件进行了少许的修改，核心代码不变，只是修改了编译文件

下载到catkin_ws下面的src文件夹下面

git clone https://github.com/hitcm/cartographer_ros.git

然后到catkin_ws下面运行catkin_make即可。 

 

4.数据下载测试

2d数据，大概470M，用迅雷下载

https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

然后运行launch文件即可。

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

参考：https://www.cnblogs.com/hitcm/p/5939507.html