基于laser的Google---cartographer建图测试总结（实测可行）

方法一、Google---cartographer源码安装

——>若还未安装ROS与cartographer

>则运行如下代码，选择安装ROS与cartographer：

wget http://fishros.com/install -O fishros && . fishros

>接着进行cartographer的依赖环境和依赖库的安装及编译：

cd src/同级目录
catkin_make
若报错：Could NOT find SDL (missing: SDL_LIBRARY SDL_INCLUDE_DIR)
则运行：sudo apt-get install libsdl-image1.2-dev
若报错：Could not find a package configuration file provided by "move_base_msgs"
则运行：sudo apt-get install ros-noetic-move-base-msgs
若报错：muparser library not found
则运行：sudo apt install libmuparser-dev
若报错：Could not find a package configuration file provided by "cartographer" with
  any of the following names

/*
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow

2、安装protobuf
#git clone -b v3.6.0 https://github.com/protocolbuffers/protobuf.git
sudo vi /etc/hosts
line3 ++: 185.199.109.133 raw.githubusercontent.com
sudo rosdep init
rosdep update
报错：因未翻墙，修改国内源
sudo vi /usr/lib/python3/dist-packages/rosdep2/sources_list.py
DEFAULT_SOURCES_LIST_URL='https://gitee.com/ssonic/rosdistro/raw/master/rosdep/sources.list.d/20-default.list'
sudo vi /usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py
FUERTE_GBPDISTRO_URL = 'https://gitee.com/ssonic/rosdistro/raw/master/releases/fuerte.yaml'
sudo vi /usr/lib/python3/dist-packages/rosdep2/rep3.py
REP3_TARGETS_URL ='https://gitee.com/ssonic/rosdistro/raw/master/releases/targets.yaml'
sudo vi /usr/lib/python3/dist-packages/rosdistro/__init__.py
DEFAULT_INDEX_URL = 'https://gitee.com/ssonic/rosdistro/raw/master/index-v4.yaml'
sudo rosdep init
报错：rm –rf /etc/ros/rosdep/sources.list.d/20-default.list
sudo rosdep init

rosdep update
*/


安装cartographer：

sudo apt-get install -y \
        cmake \
        g++ \
        git \
        stow \
        google-mock \
        libboost-all-dev \
        libcairo2-dev \
        libeigen3-dev \
        libgflags-dev \
        libgoogle-glog-dev \
        liblua5.2-dev \
        libsuitesparse-dev \
        libwebp-dev \
        libgmock-dev \
        ninja-build \
        protobuf-compiler 

	安装abseil:
	cd agv_project/src/lgmg_robots/agv_perception/slam/cartographer/3rd/abseil-cpp/
mkdir build
cd build
cmake  -DCMAKE_POSITION_INDEPENDENT_CODE=ON ..
make -j4  CFLAGS='$CFLAGS -fpic'
sudo make install

安装protoc
cd agv_project/src/lgmg_robots/agv_perception/slam/cartographer/3rd/protobuf
源码路径下protoc版本为3.4.0，应更换为3.6.0
./autogen.sh
./configure
make
make check
	sudo make install
	sudo ldconfig

安装ceres
mkdir build
cd build
cmake ..
make
sudo make install

编译cartographer
mkdir build
cd build
cmake .. -G Ninja \
  -DCMAKE_CXX_STANDARD=11 \
  ..
ninja
CTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install



cd agv_project/
catkin_make
报错：Could not find a package configuration file provided by
  "four_wheel_steering_msgs" with any of the following names
sudo apt-get install ros-noetic-four-wheel-steering-msgs
报错：Could not find a package configuration file provided by
  "urdf_geometry_parser" with any of the following names
sudo apt-get install ros-noetic-urdf-geometry-parser

过程中：缺啥依赖就安装啥！！！

sudo apt-get install ros-noetic-slam*

sudo apt-get install ros-noetic-XXX

/***或者

sudo apt-get install ros-melodic-XXX

方法二、Google---cartographer（非源码）环境配置过程

***配置cartographer建图原教程：Cartographer ROS Integration — Cartographer ROS documentation

                   （后期尝试——>配置过程出错原因：网络问题，上不了外网！！！！）

# 步骤一：安装必要的功能包： wstool and rosdep.
 

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

# 步骤二：创建一个工作空间 'catkin_ws'.

mkdir catkin_ws
cd catkin_ws
wstool init src

#步骤三：下载所需代码文件：

#原命令是这样
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
#但是只能成功下载到cartographer,    cartogropher_ros包 下载会报错

个人采用如下方式（或者说先按上述命令下一遍包，没下载成功的包用下面命令下载补上）
cd src
git clone https://github.com/cartographer-project/cartographer.git        #cartographer包
git clone https://github.com/cartographer-project/cartographer_ros.git    #cartographer_ros包
cd ..
wstool update -t src #此步如果报错可忽略

#步骤四：安装:proto3

src/cartographer/scripts/install_proto3.sh

#步骤五：安装 deb 依赖项:

rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

 /**--若出现如下报错：

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
cartographer: [libabsl-dev] defined as "not available" for OS version [focal]

就尝试把cartographer_ws/src/cartographer文件夹中的package.xml 文件中的第46行<depend>libabsl-dev</depend>删掉就完事儿了，删除后再重新执行：即可！--**/

#步骤六：生成并安装ninja

///此次在安装功能包的时候需要运行一下如下命令，设置一下环境路径
*************以后每次修改包内文件都需要运行一下这个命令***************

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

#步骤七：在catkin_ws目录下设置环境变量(一劳永逸)：

echo "source ~/catkin_ws/install_isolated/setup.bash">>~/.bashrc

#步骤八：测试过程

• 下载示例包（例如德意志博物馆的2D和3D背包系列）到一个已知的位置
• 示例位于~/Downloads，并使用roslaunch来调出演示：

# 下载示例  2D.bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

#  Launch 2D backpack demo（运行2D示例包）
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

# 下载 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（运行3D示例包）
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag

二、Google---cartographer建图过程

本人使用的激光雷达型号是   HOKUYO-UST-20LX（网口），最终建图效果如下：

详细步骤：

                     1.首先下载雷达的相关节点包

sudo apt-get install ros-indigo-urg-node

这里需要有一个配置雷达IP地址的过程：详见参考链接6     新加入配置链接              

                     2.这里有一个launch文件修改过程：详见参考链接1

                     3.同时在路径～/catkin_ws/src/cartographer_ros/cartographer_ros/launch/路径下修改demo_revo_lds.launch文件，加入以下节点

<node name="urg_node" pkg="urg_node" type="urg_node" output="screen">
    <param name="ip_address" value="自己的雷达IP地址"/>
    <param name="serial_port" value=""/>          #如果说是串口雷达在此命令行的value中加入雷达串口名
    <param name="serial_baud" value="115200"/>
    <param name="frame_id" value="laser"/>
    <param name="calibrate_time" value="true"/>
    <param name="publish_intensity" value="true"/>
    <param name="publish_multiecho" value="false"/>
    <param name="angle_min" value="-1.5707963"/>
    <param name="angle_max" value="1.5707963"/>
    <node pkg="rviz" type="rviz" name="rviz"/>
  </node>

运行看效果：

                 

roscore

roslaunch cartographer_ros demo_revo_lds.launch

参考链接：

                         1、基于rplidar || hokuyo的cartographer建图_Feng_zhengchao的博客-CSDN博客

                         2、cartographer ros使用指南-安装 - 创客智造

                         3、cartographer只用激光（hokuyo）2D建图_fake_fs的博客-CSDN博客

                         4、使用ust-10lx激光雷达通过hector_slam创建实验室地图_爱吃西瓜的金大叔的博客-CSDN博客

                         5、Invalid roslaunch XML syntax: not well-formed (invalid token): line 31, column 56 The traceback for_高飞007的博客-CSDN博客

                         6、ROS中使用Hokuyo激光雷达UST-10LX - 程序员大本营