cartographer的使用安装和测试

我这里用的是ubuntu14.04,ros indigo

 

五.cartographer的安装

1.sudo apt-get update
2.安装依赖，cartographer它的依赖总共是5个库，其中Boost,Eigen3,Lua,Protobuf这四个库的依赖是可以直接安装的，但Ceres这个库是需要另外安装的。

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

3.安装ceres库及编译

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

4.安装cartographer库及编译

git clone https://github.com/googlecartographer/cartographer.git

cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install

5.安装cartographer-ros

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

# Create a new workspace in 'catkin_ws'.
mkdir catkin_my
cd catkin_my
wstool init src

# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src

# Install deb dependencies.
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# Build and install.
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

六、运行示例

1.下载示例包，点击

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

2.把这个包移到home目录下

3.运行

cd catkin_my

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

cd src

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

运行结果如下：