cartographer 安装

新版的cartographer 安装（前面为官网）

# Install wstool and rosdep.

1      sudo apt-get update
2     sudo apt-get install -y python-wstool python-rosdep ninja-build

# Create a new workspace in 'catkin_ws'.
3    mkdir catkin_ws
4    cd catkin_ws
5    wstool init src

# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
6      wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
7         wstool update -t src

# Install proto3. #在catkin_ws目录下进行
8       src/cartographer/scripts/install_proto3.sh

#注意：：未克隆cartographer可以去github克隆

git clone https://github.com/googlecartographer/cartographer.git

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

git clone https://github.com/googlecartographer/cartographer_turtlebot.git

git clone https://github.com/ceres-solver/ceres-solver.git

# Install deb dependencies.
# The command 'sudo rosdep init' will print an error if you have already
# executed it since installing ROS. This error can be ignored.
9    sudo rosdep init
10    rosdep update
11    rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# Build and install.
12    catkin_make_isolated --install --use-ninja

13 source install_isolated/setup.bash

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方便其他包运行

该部分是个人自加可以不运行

#为了能够被其他软件包使用请将其安装到ROS系统目录下
1 su root
2 source /opt/ros/kinetic/setup.bash

3 catkin_make_isolated --install --use-ninja -DCMAKE_INSTALL_PREFIX=/opt/ros/kinetic

注意：su root 密码忘记时 sudo passwd 可以重新修改密码

注意：cartographer安装后，安装文件安装到了install_isolated里面进行cartographer_ros的launch文件修改时，在该文件夹下进行修改，否则不起作用

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安装测试

检测安装是否正确可以进行运行以下demo测试

测试2D

# Download the 2D backpack example bag.

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

# Launch the 2D backpack demo.

2 roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

测试3D

# Download the 3D backpack example bag.
3 wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag

# Launch the 3D backpack demo.
4 roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag

实验室安装

本系统在Ubuntu16.04上进行了开发和测试，使用Kinetic版本的ROS系统，若您使用其他平台进行系统的部署可能存在系统兼容性问题

ROS环境搭建请参考[http://wiki.ros.org/kinetic/Installation/Ubuntu]
若您要在turtlebot平台上进行系统测试请自行配置turtlebot运行环境
urg激光雷达ROS软件包安装请参考urg_node,或者在gitlab中搜索urg_node查看
本系统使用cartographer进行2d地图构建，为了适应系统的需求我们对cartographer代码进行了适当的修改，由于其代码构建方式与该项目代码构建方式存在差异，因此需要独立安装配置,安装配置过程如下所示：

sudo apt-get update
  sudo apt-get install -y python-wstool python-rosdep ninja-build
  cd ~/
  mkdir cartographer
  cd cartographer
  mkdir src
  cd src
  catkin_init_workspace #初始化工作空间
  git clone http://10.108.235.88/cartographer/cartographer.git
  git clone http://10.108.235.88/cartographer/cartographer_ros.git
  git clone http://10.108.235.88/cartographer/cartographer_turtlebot.git #请先配置turtlebot环境
  git clone http://10.108.235.88/cartographer/ceres_solver.git
  cd ../
  # Install deb dependencies.
  rosdep init
  rosdep update
  rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
  # Build and install.
  catkin_make_isolated --install --use-ninja
  #为了能够被其他软件包使用请将其安装到ROS系统目录下
  su root
  source /opt/ros/kinetic/setup.bash
  catkin_make_isolated --install --use-ninja -DCMAKE_INSTALL_PREFIX=/opt/ros/kinetic

新版的cartographer 安装（前面为官网）

安装测试

实验室安装

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