cartographer 最新版安装测试

时间:2023-02-03 09:54:35

在官网的基础上稍加修改,但保证代码都是最新的

我的系统配置: Debian9 strech,  ROS lunar 该方法对 ubuntu 系列操作系统以及其他ROS版本同样适用。

1.  安装依赖库

sudo apt-get install -y \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libsuitesparse-dev \
    ninja-build \
    python-sphinx

 2. 安装ceres-solver

google提供的地址下载太慢,在github上git clone 也是太慢, 索性直接Donload zip

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

然后编译安装:

cd ceres-solver
mkdir build
cd build
cmake ..
make -j4
sudo make install

 3. 安装proto3

 重要说明: 如果你已经安装了ROS, 恭喜你,其实你已经安装了protobuf了, 但是你没有安装protobuf-compiler, 你只需要安装一下protobuf-compiler就可以了

sudo apt-get install protobuf-compiler

然后你可以执行 protoc --version 查看protobuf 的版本.

如果你没有装ROS那么执行下面的步骤吧:

 安装依赖

sudo apt-get install autoconf automake libtool curl make g++ unzip

方式一(推荐):

sudo apt-get install libprotobuf-dev
sudo apt-get install protobuf-compiler

方式二:

下载zip(git clone 太慢了)

地址: https://github.com/protocolbuffers/protobuf

编译安装:

./autogen.sh
./configure
make -j4
make check
sudo make install
sudo ldconfig # refresh shared library cache.

make check 会提示又一些错误,没关系啦,核心库已经编译好啦

4. 安装cartographer

clone cartographer代码,这个速度还可以

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

编译安装

cd cartographer
mkdir build
cd build
cmake ..
make -j4
sudo make install

5. 安装cartographer_ros

这个就简单了,地址:

https://github.com/googlecartographer/cartographer_ros

clone 或者下载到自己的ROS工作空间,编译一下就可以了.

6. 测试

2D:

下载数据包, 地址: https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

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

cartographer 最新版安装测试

 3D:

下载数据包,地址: 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.
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag

 

OK, 到此结束!