jetson orin 安装cartographer

源码安装cartographer_ros的脚本，适用于melodic以及noetic

git clone https://github.com/WLwind/cartographer_installation
cd cartographer_installation
./install.sh

将下好的压缩包解压后并打开文件夹，其中 install.sh脚本需要在rosdep配置好的情况下运行，需要我们先完成sudo rosdep init和rosdep update。然后在cartographer_installation文件下打开终端并输入./install.sh即可，安装完成后cartographer_ws/src目录下便会出现cartographer_ros cartographer文件夹。
编译

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

测试

#下载数据包
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
#运行测试
roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag

launch和lua文件修改
a）launch文件修改

进入cd ~/cartographer_ws/src/cartographer_ros/cartographer_ros/launch

创建一个launch 文件，命名为S2L.launch（可以复制粘贴后覆盖）

<launch>
  <param name="/use_sim_time" value="true" />
 
  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename S2L.lua" #此处为修改的文件名称
      output="screen">
    <remap from="scan" to="scan" /> #激光雷达的话题
  </node>
 
  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
 
  <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
  
</launch>

b）lua文件修改

进入 cd ~/cartographer_ws/src/cartographer_ros/cartographer_ros/configuration_files

创建一个lua 文件，命名为S1.lua（可以复制粘贴后覆盖）

include "map_builder.lua"
include "trajectory_builder.lua"
 
options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",  #一般默认为这个
  tracking_frame = "laser",  #对应的激光雷达坐标系
  published_frame = "laser",  #同上对应的雷达坐标系
  odom_frame = "odom",  #一般默认为这个
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = true,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}
 
MAP_BUILDER.use_trajectory_builder_2d = true
 
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 8.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
 
POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 35
POSE_GRAPH.constraint_builder.min_score = 0.65
 
return options

重新编译

catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash
roslaunch cartographer_ros S1.launch

运行

roslaunch rplidar_ros rplidar_s2.launch
roslaunch cartographer_ros S1.launch

保存地图

#请求/finish_trajectory服务，完成轨迹，不再接收数据：
rosservice call /finish_trajectory 0
 
#请求/write_state服务，保存当前状态，include_unfinished_submaps报错的话，用”true“：
rosservice call /write_state "{filename: '${HOME}/Downloads/mymap.pbstream',include_unfinished_submaps: 1}"
 
#运行cartographer_pbstream_to_ros_map节点，将保存的.pbstream文件转为.pgm和.yaml文件：
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${HOME}/Downloads/mymap -pbstream_filename=${HOME}/Downloads/mymap.pbstream -resolution=0.05

一般使用命令sudo apt install ros-<ROS版本>-cartographer-*，noetic版本暂时没有，只能采取源码编译的方式进行安装。
创建工作空间
mkdir -p ~/catkin_google_ws/src
cd catkin_google_ws/src
catkin_init_workspace
安装工具
sudo apt update
sudo apt install -y python3-wstool python3-rosdep ninja-build stow
初始化工作空间
cd catkin_google_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
安装依赖并下载cartographer相关功能包
此处推荐使用国内用户用的rosdepc
sudo pip install rosdepc
sudo rosdepc init
rosdepc update
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=$RO{S}_{D}ISTRO-y此过程可能会出现报错信息，原因可能与ROS版本相关，根据提示手动安装缺少的库或依赖即可安装abseilcpp库src/cartographer/scripts/instal{l}_{a}bseil.sh若与已装库冲突，需要卸载之前的库sudoapt-getremoveros-${ROS_DISTRO}-abseil-cpp
6.编译与安装
catkin_make_isolated --install --use-ninja
source devel_isolated/setup.bash
7.下载并运行2d demo
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