今天抽了會時間安裝了Cartographer ROS for Turtlebots
系統版本： Ubuntu 14.04 (Trusty) with ROS Indigo，系統是用的TurtleBot ISO with the following link and create startup USB disk using Startup Disk Creator or similar tools.
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ubuntu-14.04.2-desktop-amd64-turtlebot-RC0.iso, sha512sum 超方便，不用總是去配置turtlebot
1. 安裝
安裝過程在https://github.com/googlecartographer/cartographer_turtlebot/blob/master/docs/source/index.rst都有詳細的描述。
# 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
# Merge the cartographer_turtlebot.rosinstall file and fetch code for dependencies.
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall
wstool update -t src
# Install deb dependencies.
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
# Build and install.
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash
但是問題一般都會處在catkin_make_isolated --install --use-ninja，因為這個時候需要翻一下牆，裝個包，翻牆的方法我就不多說了我用的是greenvpn，在ubuntu上也很好用，效果很好。
然后就能很順利的裝好。
2 測試
測試包有4GB多，可以通過迅雷下載比較快 https://storage.googleapis.com/cartographer-public-data/bags/turtlebot/cartographer_turtlebot_demo.bag
2D LIDAR demo.
roslaunch cartographer_turtlebot demo_lidar_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag
# Launch the 2D depth camera demo.
roslaunch cartographer_turtlebot demo_depth_camera_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag
# Launch the 3D depth camera demo.
roslaunch cartographer_turtlebot demo_depth_camera_3d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag
當然，谷歌的demo跑起來也是很爽的。我做了前兩個
接下來，要用Turltebot實際做個實驗，還沒來得及呢