ubuntu16.04安裝ROS+cartographer

使用張明明大神修改編譯版

注意:中間出過很多錯誤，大部分是開源包eigen,protobuf的版本與該SLAM不匹配。

之前裝了eigen的，刪掉。protobuf我裝的是3.6.1

1.安裝依賴性：

　　sudo apt-get install -y 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-kinetic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

2.安裝ceres slover,版本1.11，如果裝過別的版本，建議刪掉重新裝

git clone https://github.com/hitcm/ceres-solver-1.11.0.git
cd ceres-solver-1.11.0
mkdir build
cd build
cmake ..
make -j4        //編譯的時候會和eigen3.3發生沖突，需要重新安裝eigen3.2
sudo make install

3.安裝protobuf

# 首先安裝protobuf
sudo apt-get install autoconf autogen
git clone https://github.com/protocolbuffers/protobuf.git
cd protobuf
git submodule update --init --recursive
./autogen.sh
./configure
make
# 這一步可能會報錯，無視就好
make check
sudo make install
sudo ldconfig # refresh shared library cache.

 

4.安裝Cartographer

git clone https://github.com/hitcm/cartographer.git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install

5.安裝Cartographer_ros

#初始化工作空間
mkdir -p ~/cartogra_ros/src
cd ~/cartogra_ros/src
catkin_init_workspace
echo "source cartogra_ros/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

#安裝cartographer_ros
cd ~/cartogra_ros/src
git clone https://github.com/hitcm/cartographer_ros.git
cd ~/cartogra_ros
catkin_make

5.數據測試

數據源：

　　2D：https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

 

　　3D：https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag

運行launch文件即可
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/cartographer_3d_deutsches_museum.bag

6.Revo LDS demo

　　數據集：https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag

　　運行：roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag