slam ：google激光雷达slam算法Cartographer的安装及bag包demo测试

Cartographer 是google于2016年９月开源的一套激光雷达slam算法,精度和效果在业界处于领先水准。本文将演示在ROS JADE版中的安装使用方法。

操作步骤：

１．安装依赖包

# 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 \
    libcairo2-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libprotobuf-dev \
    libsuitesparse-dev \
    libwebp-dev \
    ninja-build \
    protobuf-compiler \
    python-sphinx

2．安装ceres solver

cd  ~/Documents
git clone https://github.com/BlueWhaleRobot/ceres-solver.git
cd ceres-solver
mkdir build
cd build
cmake ..
make -j
sudo make install

3．安装cartographer

cd  ~/Documents
git clone https://github.com/BlueWhaleRobot/cartographer.git
cd cartographer
mkdir build
cd build
cmake ..
make -j
sudo make install

4．安装cartographer_ros

cd ~/Documents/ros/src   #请修改路径到自己的ROS catkin工作空间
git clone https://github.com/BlueWhaleRobot/cartographer_ros.git
cd ..
catkin_make

5．安装已完成，开始下载测试用的bag文件

点击下述链接下载文件，保存到桌面
https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

6．启动demo演示，正常可以看到rviz启动并开始建图

根据个人平台计算能力不同，本demo完整运行时间一般为半个小时到1个小时之间

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

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

 

7．保存地图，结束测试

rosservice call /finish_trajectory "stem: 'test'"

现在在home目录下的.ros文件夹内会生成建立的地图文件，这两个文件（pgm 和 yaml）在ros中的map_server中可以加载使用