Cartographer安装

官方安装教程：

# Install wstool and rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
 
# Create a new workspace in 'catkin_ws'.
mkdir catkin_ws
cd catkin_ws
wstool init src
 
# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
//在这一步可能会显示无法下载cere-solver<br>/*<br>解决办法手动下载cere-solver 然后放到src中<br>下载链接：https://ceres-solver.googlesource.com/ceres-solver.git/+/1.13.0<br>点击页面中的tgz可以下载，下载后解压到src中<br>
# Install proto3.
src/cartographer/scripts/install_proto3.sh
 
# Install deb dependencies.
# The command 'sudo rosdep init' will print an error if you have already
# executed it since installing ROS. This error can be ignored.
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
//这里要修改ROS_DISTRO为自己的ros版本如kinetic或者indigo
# Build and install.
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

下载安装完毕以后，运行数据集。

下载数据集。

# Download the 2D backpack example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
 
# Launch the 2D backpack demo.
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
 
# Download the 3D backpack example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag
 
# Launch the 3D backpack demo.
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag

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二维数据集运行

结果如下所示：

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rosbag内容：

//输入命令
rostopic list 
//得到数据包内容，并且用rostopic echo /topic_name 来查看各个topic的内容
/clicked_point
/clock
/horizontal_laser_3d//有数据，  frame_id: "horizontal_vlp16_link"
/imu//有数据，frame_id: "imu_link"
/initialpose
/map
/map_updates
/move_base/DWAPlannerROS/global_plan
/move_base/global_costmap/costmap
/move_base/global_costmap/costmap_updates
/move_base/global_costmap/footprint
/move_base/local_costmap/costmap
/move_base/local_costmap/costmap_updates
/move_base_simple/goal
/particlecloud
/rosout
/rosout_agg
/scan
/tf
/tf_static
/velodyne_points//没有数据
/vertical_laser_3d//有数据，frame_id: "vertical_vlp16_link"

这里有vertical和horizaontal两个laser_3d，如何理解，还有velodyne_points。

利用rostopic查看各个数据信息：

发现

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跑3维度数据集效果：

在跑3维数据集的时候，查看rostopic

rostopic list 
/clicked_point
/clock
/constraint_list
/horizontal_laser_3d
/imu
/initialpose
/joint_states
/landmark_poses_list
/map
/move_base_simple/goal
/rosout
/rosout_agg
/scan_matched_points2
/submap_list
/tf
/tf_static
/trajectory_node_list
/vertical_laser_3d

---

用自己的传感器跑cartographer

由于传感器的rostopic不同，我们需要对cartographer订阅的名称进行修改，需要在launch文件中进行修改，但是修改后发现没有任何作用，这是因为修改后需要重新按照上面的流程进行编译安装，这个可能是因为在安装的时候其实已经把launch文件安装到系统中了，所以我们调用的时候还是调用系统中的launch文件

 但是按照网络上的修改版本后可以直接修改，不用走以上的流程

 修改好名称接入以后出现问题

Queue（0，imu）exceeds maximum size.

Queue(0,points2_1) exceeds maximum size.