ROS slam-google cartographer编译和demo运行

Google Cartographer是一个能够提供跨平台2D/3D实时SLAM以及传感器配置的算法系统，本文主要介绍该算法的编译以及Google bag的运行。有关该算法的详情请参考链接：https://github.com/googlecartographer/cartographer/blob/master/docs/source/index.rst。

1 实验环境

1）硬件环境：PC （CPU：X64 64bit，Memory：4G）

2）软件环境：Ubuntu 16.04 32bit（Google建议64bit，且说32bit存在issue，不过为了不用重新安装64bit系统，我还是尝试了当前的32bit），ROS Kinetic版本

2 实验步骤

2.1 安装基本必须的库

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

2.2 编译并安装Ceres

git clone https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install

注意：如果无法从google取出代码可以从github提取code：https://github.com/ceres-solver/ceres-solver

2.3 安装wstool和rosdep

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

2.4 创建workspace

mkdir google_cartographer_catkin_ws
cd catkin_ws
wstool init src

2.5 下载google cartographer源码

wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src

2.6  安装deb依赖

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

2.7 编译并安装

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

注意：我在编译时候遇到了与QT相关问题，很多QT头文件找不到，不知道是你不是由于Ubuntu 16.04自带qt4，而我又安装了qt5导致，最后通过修改CMakeLists.txt搞定了。

error log：

bmap.h:35:0,
                 from cartographer_rviz/moc_drawable_submap.cpp:9,
                 from cartographer_rviz/drawable_submap_automoc.cpp:2:
/opt/ros/kinetic/include/rviz/display_context.h:34:19: fatal error: QObject: No such file or directory
compilation terminated.
ninja: build stopped: subcommand failed.
<== Failed to process package 'cartographer_rviz':
  Command '['/home/siriansu/google_cartographer_catkin_ws/install_isolated/env.sh', 'ninja', '-j2', '-l2']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/siriansu/google_cartographer_catkin_ws/build_isolated/cartographer_rviz && /home/siriansu/google_cartographer_catkin_ws/install_isolated/env.sh ninja -j2 -l2

In file included from /home/siriansu/google_cartographer_catkin_ws/src/cartographer_ros/cartographer_rviz/cartographer_rviz/drawable_submap.h:35:0,

cartographer_rviz/../../../src/cartographer_ros/cartographer_rviz/cartographer_rviz/drawable_submap.h:35:35: fatal error: rviz/displays_context.h: No such file or directory

解决办法：修改src/cartographer_ros/cartographer_rviz/下面的CMakeLists.txt添加如下红色行

if(rviz_QT_VERSION VERSION_LESS "5")
  message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
  find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
  include(${QT_USE_FILE})
else()
  message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
  find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
  find_package(Qt5Widgets REQUIRED)
  set(QT_LIBRARIES Qt5::Widgets)
  include_directories(/opt/Qt5.5.1/5.5/gcc/include/QtCore /opt/Qt5.5.1/5.5/gcc/include/ /opt/Qt5.5.1/5.5/gcc/include/QtGui/)
 
endif()

3 运行Google Demo

Google有4个demo，我只是验证所以仅仅下载的第一个demo，下载和运行命令如下：

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

运行结果如下图所示：