Cartographer系列之一——初體驗


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Cartographer簡介

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. This project provides Cartographer's ROS integration.
Cartographer是google開源的通用2D和3D定位與地圖同步構建的SLAM工具,並提供ROS接口。
官網地址:https://github.com/googlecartographer

安裝說明

  1. 官網提供了基於Ubuntu14.04(Trusty)和ROS(indigo)的安裝和測試說明,有博客寫道在Ubuntu16.04(Xenial)和ROS(Kinetic)上安裝和測試成功,該博客也有Cartographer的介紹和安裝流程:
    http://blog.csdn.net/zhangrelay/article/details/52757573
  2. 以下安裝流程主要參考hitcm(張明明)的博客及Cartographer的官方安裝教程:

安裝流程

    1. 安裝Ubuntu14.04(Trusty),將安裝鏡像文件制作U盤鏡像,進入BIOS或WIN10下進入設置->更新和安全->恢復->高級啟動,使用U盤啟動,完成Ubuntu14.04(Trusty)的安裝。
    2. 安裝ROS(indigo),參考文件http://wiki.ros.org/indigo/Installation/Ubuntu(英文原版)、http://wiki.ros.org/cn/indigo/Installation/Ubuntu(中文翻譯);
      注意: 如果每次打開一個新的終端時ROS環境變量都能夠自動配置好(即添加到bash會話中),那將會方便得多:
      echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
      source ~/.bashrc
      如果你安裝有多個ROS版本, ~/.bashrc 必須只能 source你當前使用版本所對應的 setup.bash
      如果你只想改變當前終端下的環境變量,你可以執行命令:
      source /opt/ros/indigo/setup.bash
    3. 安裝所有依賴項
      # Install the required libraries that are available as debs.
      sudo apt-get update
      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 \
      ros-indigo-tf2-eigen \
      libatlas-base-dev \
      libsuitesparse-dev \
      liblapack-dev
    4. 安裝ceres solver,下載安裝在主目錄下,由於googlesource.com需要翻牆,這里使用hitcm(張明明)的github地址
      # Build and install Ceres.
      # git clone https://ceres-solver.googlesource.com/ceres-solver
      # cd ceres-solver
      git clone https://github.com/hitcm/ceres-solver-1.11.0.git
      cd ceres-solver-1.11.0
      mkdir build
      cd build
      cmake .. -G Ninja
      ninja
      ninja test
      sudo ninja install
    5. 安裝cartographer,下載安裝在主目錄下,這里同樣使用的是hitcm(張明明)的github地址
      # Build and install Cartographer.
      git clone https://github.com/hitcm/cartographer.git
      cd cartographer
      mkdir build
      cd build
      cmake .. -G Ninja
      ninja
      ninja test
      sudo ninja install
    6. 安裝cartographer_ros,這里使用的是hitcm(張明明)的github地址,由於google官方的教程需要翻牆下載一些文件,因此容易失敗,經驗證hitcm(張明明)對原文件進行了少許修改后可以成功安裝,在他的修改中核心代碼不變,只修改了編譯文件。
      We recommend using wstool and rosdep. For faster builds, we also recommend using Ninja.
      # Install wstool and rosdep.
      sudo apt-get update
      sudo apt-get install -y python-wstool python-rosdep ninja-build
      # Create a new workspace in 'catkin_ws'.
      mkdir catkin_ws
      cd catkin_ws
      wstool init src
      # 下載到catkin_ws下面的src文件夾下面
      cd src
      git clone https://github.com/hitcm/cartographer_ros.git
      # 然后到catkin_ws下面運行catkin_make安裝
      cd
      cd catkin_ws
      catkin_make
      source ./devel/setup.bash
      注意: 如果每次打開一個新的終端時ROS環境變量都能夠自動配置好(即添加到bash會話中),那將會方便得多:
      echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
      source ~/.bashrc
      如果你只想改變當前終端下的環境變量,你可以執行命令:
      source ~/catkin_ws/devel/setup.bash
    7. 運行DEMO
      Now that Cartographer and Cartographer’s ROS integration are installed, download the example bags (e.g. 2D and 3D backpack collections of the Deutsches Museum) to a known location, in this case ~/Downloads, and use roslaunch to bring up the demo:
      # Download the 2D backpack example bag.
      wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
      # Launch the 2D backpack demo.
      roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
      # Download the 3D backpack example bag.
      wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag
      # Launch the 3D backpack demo.
      roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/cartographer_3d_deutsches_museum.bag
      # Download the Revo LDS example bag.
      wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
      # Launch the Revo LDS demo.
      roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag
      # Download the PR2 example bag.
      wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag
      # Launch the PR2 demo.
      roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag
      The launch files will bring up roscore and rviz automatically.


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