Cartographer安装及运行

1、安装

# 安装wstool 和 rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

# 创建工作空间.
mkdir catkin_ws
cd catkin_ws
wstool init src

#合并制图员cartographer_ros.rosinstall 文件并获取依赖项的代码 
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src          


src/cartographer/scripts/install_proto3.sh
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# 安装
catkin_make_isolated --install --use-ninja   
source install_isolated/setup.bash

在实际安装中，sudo rosdep init报错如下：

Traceback (most recent call last):
  File "/usr/bin/rosdep", line 6, in <module>
    from pkg_resources import load_entry_point
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2927, in <module>
    @_call_aside
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2913, in _call_aside
    f(*args, **kwargs)
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2940, in _initialize_master_working_set
    working_set = WorkingSet._build_master()
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 637, in _build_master
    return cls._build_from_requirements(__requires__)
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 650, in _build_from_requirements
    dists = ws.resolve(reqs, Environment())
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 829, in resolve
    raise DistributionNotFound(req, requirers)
pkg_resources.DistributionNotFound: The 'rospkg>=1.2.7' distribution was not found and is required by rosdep

解决办法：

sudo apt-get install python-rospkg

然后继续执行后续步骤即可成功安装！

2、运行数据集

source install_isolated/setup.bash
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

便可成功运行！

参考链接：
https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html
https://google-cartographer-ros.readthedocs.io/en/latest/demos.html
https://blog.csdn.net/u013241583/article/details/105537901
https://blog.csdn.net/weixin_30066287/article/details/112245169
https://blog.csdn.net/tiancailx/article/details/90757522
https://blog.csdn.net/z952957407/article/details/107645997