Ubuntu 16.04中cartographer安装过程中的troubleshooting，以及demo的实现

官网推荐配置：

• 64-bit, modern CPU (e.g. 3rd generation i7)
• 16 GB RAM
• Ubuntu 14.04 (Trusty) or 16.04 (Xenial)

本机配置：

• 64-bit, modern CPU (e.g. 4rd generation i5)            CPU越强越好      
• 8 GB RAM                                                                     内存条容量越大越好
• Ubuntu 16.04 (Xenial)                                                 ubuntu14.04的安装可以看hitcm的博客，这里主要介绍的是16.04
• GPU Geforce Experience GTX750                           显卡当然是越强越好

首先按照创客智造中说的，一步一步来，链接在这里https://www.ncnynl.com/archives/201801/2230.html

安装过程中可能会出现的问题trouble shooting以及一些建议：

1.务必改非线性优化库ceres的网址 （将ceres-solver的uri改为http://github.com/ceres-solver/ceres-solver.git)

#未修改之前
$ cat src/.rosinstall

# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2018-08-29
- git:
    local-name: cartographer
    uri: https://github.com/googlecartographer/cartographer.git
- git:
    local-name: cartographer_ros
    uri: https://github.com/googlecartographer/cartographer_ros.git
- git:
    local-name: cartographer_turtlebot
    uri: https://github.com/googlecartographer/cartographer_turtlebot.git
- git:
    local-name: ceres-solver
    uri: https://ceres-solver.googlesource.com/ceres-solver.git
    version: 1.12.0rc4

$ wstool update -t src

fatal: unable to access 'https://ceres-solver.googlesource.com/ceres-solver.git/': Failed to connect to ceres-solver.googlesource.com port 443: 连接超时
Exception caught during install: Error processing 'ceres-solver' : [ceres-solver] Checkout of https://ceres-solver.googlesource.com/ceres-solver.git version 1.12.0rc4 into /home/dyh/carographer_ws/src/ceres-solver failed.

ERROR in config: Error processing 'ceres-solver' : [ceres-solver] Checkout of https://ceres-solver.googlesource.com/ceres-solver.git version 1.12.0rc4 into /home/dyh/carographer_ws/src/ceres-solver failed.

2.在build和install步骤中的 $catkin_make_isolated --install --use-ninja -j1，-j1可要可不要，依据电脑性能而定

3.2D demo包建议安装在主文件夹下面 /home/用户名，下面是2d demo的地址

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

4.bag包的运行指令

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

 

结果展示：

和论文里面的图一模一样