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【Ubuntu18.04+melodic+cartographer安装并跑通官方测试例程】(2022.3.13跑通)

耳一文 2022-03-13 阅读 119

推荐:请直接飞到该链接 Ubuntu18.04安装Cartographer建图

以下为上面连接的搬运和部分改动:

一、为cartographer安装依赖

sudo apt-get update
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-melodic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev
sudo apt-get install -y python-wstool python-rosdep ninja-build stow

二、安装cartographer、cartographer_ros和ceres-solver

1.初始化工作空间(工作空间名称注意不要重复)

mkdir catkin_google_ws
cd catkin_google_ws
wstool init src

2.从原作者的gitee上下载安装cartographer和cartographer_ros

cd src
git clone https://gitee.com/liu_xiao_eu/cartographer.git
git clone https://gitee.com/liu_xiao_eu/cartographer_ros.git

3.在上述建好的src文件夹下,获取ceres-solver源码

wget ceres-solver.org/ceres-solver-1.13.0.tar.gz

4.解压

tar xvf ceres-solver-1.13.0.tar.gz

5.编译

cd ceres-solver-1.13.0
mkdir build
cd build
cmake  ..
make

6.测试并安装依赖

make test
sudo make install

三、安装 cartographer_ros 的依赖

(注意:这里与原文有区别,原文用的是rosdepc,因为我只有rosdep所以改成了rosdep,具体安装方式请自行解决)

返回到工作空间的目录下,并在工作空间的目录下进行后面操作(逐行输入):

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

四、 安装库并编译

Cartographer 需要 abseil-cpp library,方式如下:

src/cartographer/scripts/install_abseil.sh
catkin_make_isolated --install --use-ninja

五、 下载测试包测试建图

1.下载官网提供数据包测试:

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

2.此时的应在工作空间的目录下,执行测试:

source install_isolated/setup.bash
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

最后配一张我跑了差不多的图:
在这里插入图片描述

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