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    3. 谷歌Cartographer学习（1）-快速安装测试

    谷歌Cartographer学习（1）-快速安装测试

    xiaoxiao2021-12-14  18

    谷歌Cartographer学习（1）-快速安装测试

        谷歌自己提供了安装方法，但是安装比较繁琐，我做了一定的修改，代码放到个人github上,https://github.com/hitcm/。

        ros下面的安装非常快捷，只需要catkin_make即可。

    更多细节，可以看看知乎的问题https://www.zhihu.com/question/51348391/answer/125560951?from=profile_answer_card

        个人理解错误的地方还请不吝赐教，转载请标明出处，内容如有改动更新，请看原博：http://www.cnblogs.com/hitcm/，如有任何问题，feel free to contact me atrobotsming@gmail.com

         如有问题,请及时反馈给我,博客会持续更新。

         如下，需要安装3个软件包，ceres solver、cartographer和cartographer_ros

    0.安装所有依赖项

    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-indigo-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

    1.首先安装ceres solver，选择的版本是1.11,路径随意

    1.     git clone https://github.com/hitcm/ceres-solver-1.11.0.git

    2.      cd ceres-solver-1.11.0/build

    3.      cmake ..

    4.      make –j

    5.      sudo make install

     

    2.然后安装 cartographer,路径随意

    1.      git clone https://github.com/hitcm/cartographer.git

    2 .     cd cartographer/build

    3.       cmake .. -G Ninja

    4.       ninja

    5.       ninja test

    6.       sudo ninja install

    上述第3步执行错误的同学可以忽略3-6步，改用下面的方法。

    7.      cmake  ..

    8 .     make

    9.      sudo make install

    3.安装cartographer_ros。

    谷歌官方提供的安装方法比较繁琐，我对原来的文件进行了少许的修改，核心代码不变，只是修改了编译文件

    下载到catkin_ws下面的src文件夹下面

    git clone https://github.com/hitcm/cartographer_ros.git

    然后到catkin_ws下面运行catkin_make即可。

    4.数据下载测试

    2d数据，大概500M，用迅雷下载

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

    3d数据，8G左右，同样用迅雷下载

    https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag   然后运行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 刚开始使用ROS的同学运行下面两句是无法工作的，可能出现的错误如下。

    [demo_backpack_2d.launch] is neither a launch file in package [cartographer_ros] nor is [cartographer_ros] a launch file name The traceback for the exception was written to the log file

    这种错误的主要原因是ros的catkin_ws配置问题，可以运行rospack profile试试。

    实在不行还有如下所示的两种解决方法。推荐第二种。

    最终结果如下图，左侧为2d,右侧为3d。 Good luck!关于代码的原理解析，接下来的文章可能会详细探讨。  

    原文地址：http://www.cnblogs.com/hitcm/p/5939507.html

    Cartographer简介

    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开源的通用2D和3D定位与地图同步构建的SLAM工具，并提供ROS接口。 官网地址：https://github.com/googlecartographer

    安装说明

    官网提供了基于Ubuntu14.04（Trusty）和ROS（indigo）的安装和测试说明，有博客写道在Ubuntu16.04（Xenial）和ROS（Kinetic）上安装和测试成功，该博客也有Cartographer的介绍和安装流程： http://blog.csdn.net/zhangrelay/article/details/52757573以下安装流程主要参考hitcm（张明明）的博客及Cartographer的官方安装教程： hitcm（张明明）博客：http://www.cnblogs.com/hitcm/p/5939507.html官方安装教程Getting started without ROS: https://google-cartographer.readthedocs.io/en/latest/官方安装教程Getting started with ROS: https://google-cartographer-ros.readthedocs.io/en/latest/

    安装流程

    安装Ubuntu14.04（Trusty），将安装镜像文件制作U盘镜像，进入BIOS或WIN10下进入设置->更新和安全->恢复->高级启动，使用U盘启动，完成Ubuntu14.04（Trusty）的安装。安装ROS（indigo），参考文件http://wiki.ros.org/indigo/Installation/Ubuntu（英文原版）、http://wiki.ros.org/cn/indigo/Installation/Ubuntu（中文翻译）； 注意： 如果每次打开一个新的终端时ROS环境变量都能够自动配置好（即添加到bash会话中），那将会方便得多： echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc source ~/.bashrc 如果你安装有多个ROS版本, ~/.bashrc 必须只能 source你当前使用版本所对应的 setup.bash。 如果你只想改变当前终端下的环境变量，你可以执行命令： source /opt/ros/indigo/setup.bash安装所有依赖项 # 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安装ceres solver，下载安装在主目录下，由于googlesource.com需要FQ，这里使用hitcm（张明明）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安装cartographer，下载安装在主目录下，这里同样使用的是hitcm（张明明）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安装cartographer_ros，这里使用的是hitcm（张明明）的github地址，由于google官方的教程需要FQ下载一些文件，因此容易失败，经验证hitcm（张明明）对原文件进行了少许修改后可以成功安装，在他的修改中核心代码不变，只修改了编译文件。 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 # 下载到catkin_ws下面的src文件夹下面 cd src git clone https://github.com/hitcm/cartographer_ros.git # 然后到catkin_ws下面运行catkin_make安装 cd cd catkin_ws catkin_make source ./devel/setup.bash 注意： 如果每次打开一个新的终端时ROS环境变量都能够自动配置好（即添加到bash会话中），那将会方便得多： echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc source ~/.bashrc 如果你只想改变当前终端下的环境变量，你可以执行命令： source ~/catkin_ws/devel/setup.bash运行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.

    原文地址：http://www.cnblogs.com/wenhust/p/5961017.html

    转载请注明原文地址: https://ju.6miu.com/read-971970.html

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