Cartographer系列之三——ROS中的安裝

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Cartographer ROS Integration

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.
官網地址：https://github.com/googlecartographer

一、安裝說明

1. System Requirements

Although Cartographer may run on other systems, it is confirmed to be working on systems that meet the following requirements:

• 64-bit, modern CPU (e.g. 3rd generation i7)
• 16 GB RAM
• Ubuntu 14.04 (Trusty)
• gcc version 4.8.4
• ROS Indigo

2. Known Issues

• 32-bit builds have libeigen alignment problems which cause crashes and/or memory corruptions.

3. 安裝流程主要參考Cartographer的官方安裝教程：

• 官方安裝教程Getting started without ROS:
  https://google-cartographer.readthedocs.io/en/latest/
• 官方安裝教程Getting started with ROS:
  https://google-cartographer-ros.readthedocs.io/en/latest/

二、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）

3. Building & Installation

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 # 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

注意：
此步驟需要科學上網，解決辦法有兩個：

• 科學上網。
  使用VPN等方式，使得可正常下載到ceres-solver。
• 不翻牆。
  修改下載地址為https://github.com/ceres-solver/ceres-solver.git，以正常下載到相關源碼。
  cd src
mv .rosinstall rosinstall
  點擊打開rosinstall文件，將內容替換為
  - git:
local-name: cartographer
uri: https://github.com/googlecartographer/cartographer.git
- git:
local-name: cartographer_ros
uri: https://github.com/googlecartographer/cartographer_ros.git
- git:
local-name: ceres-solver
uri: https://github.com/ceres-solver/ceres-solver.git
  然后繼續將文件名改回
  mv rosinstall .rosinstall
cd ..

繼續下列操作：

# Install deb dependencies. rosdep init rosdep update

以上兩步如果在安裝ROS中已經完成，此處會提示已初始化，則可不必再次初始化，直接繼續下列操作：

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

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/install_isolated/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/install_isolated/setup.bash

4. Running the demos

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:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag # Download the 3D backpack example bag. wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag # Launch the 3D backpack demo. roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.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 # Download the Taurob Tracker example bag. wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag # Launch the Taurob Tracker demo. roslaunch cartographer_ros demo_taurob_tracker.launch bag_filename:=${HOME}/Downloads/taurob_tracker_simulation.bag

The launch files will bring up roscore and rviz automatically.