不使用 catkin_make_isolated编译cartographer

Cartographer 是google于2016年９月开源的一套激光雷达slam算法,精度和效果在业界处于领先水准。点击查看最终效果。搜索资料大部分针对cartographer的安装都要使用catkin_make_isolated指令，此编译指令的安装会对系统造成莫名的影响。在此教程中找到常规编译指令编译http://doc.bwbot.org/en/books-online/xq-manual/topic/136.html#%EF%BC%91%EF%BC%8E%E5%AE%89%E8%A3%85%E4%BE%9D%E8%B5%96%E5%8C%85
1、安装依赖包

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

python-sphinx 可以换成 sphinx-common
2．安装ceres solver

cd  ~/Documents
git clone https://github.com.cnpmjs.org/ceres-solver/ceres-solver.git
cd ceres-solver
git checkout 1.14.x
mkdir build
cd build
cmake ..  #git hook时间比较长，耐心等待
make -j
sudo make install

3．安装prtobuf 3.0

cd  ~/Documents
git clone https://github.com.cnpmjs.org/google/protobuf.git
cd protobuf
git checkout v3.6.1
mkdir build
cd build
cmake  \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_BUILD_TYPE=Release \
  -Dprotobuf_BUILD_TESTS=OFF \
  ../cmake
make -j 2
sudo make install

4.安装abseil
https://blog.csdn.net/Maker_pace/article/details/119025895

git clone https://github.com/abseil/abseil-cpp.git
mkdir build
cd build
cmake .. -DCMAKE_CXX_STANDARD=11
make -j8
sudo make install

5．安装cartographer

cd  ~/Documents
git clone https://gitee.com/BlueWhaleRobot/cartographer.git
cd cartographer
mkdir build
cd build
cmake ..
make -j
sudo make install

6．安装cartographer_ros

cd ~/Documents/ros/src   #请修改路径到自己的ROS catkin工作空间
git clone https://gitee.com/BlueWhaleRobot/cartographer_ros.git
cd ..
catkin_make

6．安装已完成，开始下载测试用的bag文件
点击下述链接下载文件，保存到桌面 下载链接

7．启动demo演示，正常可以看到rviz启动并开始建图
根据个人平台计算能力不同，本demo完整运行时间一般为半个小时到1个小时之间

roslaunch cartographer_ros offline_backpack_2d.launch  bag_filenames:=${HOME}/Desktop/cartographer_paper_deutsches_museum.bag

8．提取建立的地图，结束测试
上面步骤7会生成一个pbstream文件，用cartographer_ assets_writer可以转换成栅格地图

roslaunch cartographer_ros assets_writer_ros_map.launch bag_filenames:=${HOME}/Desktop/cartographer_paper_deutsches_museum.bag pose_graph_filename:=${HOME}/Desktop/cartographer_paper_deutsches_museum.bag.pbstream
0_1531754676780_map_yaml.png