cartographer安裝--Ubuntu14.04--indigo
0.安裝所有依賴項
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.首先安裝ceres solver,選擇的版本是1.11,路徑隨意
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
5. sudo make install
2.然後安裝 cartographer,路徑隨意
1. git clone https://github.com/hitcm/cartographer.git
2 . cd cartographer/build
3. cmake ..
4 . make
5. sudo make install
3.安裝cartographer_ros。
mkdir ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/hitcm/cartographer_ros.git
然後到catkin_ws下面運行catkin_make即可:
cd ..
catkin_make
(=。=,如果編譯過程出錯internal compiler error: Killed,請看此鏈接https://blog.csdn.net/qq_29573053/article/details/69665996)
4.數據下載測試
2d數據,大概500M,用迅雷下載
https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
3d數據,8G左右,同樣用迅雷下載
https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag
有同學反映上面鏈接失效了,請用下面的即可。
https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag
然後運行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
剛開始使用ROS的同學運行下面兩句是無法工作的,可能出現的錯誤如下。
[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
這種錯誤的主要原因是ros的catkin_ws配置問題,可以運行rospack profile試試。
實在不行還有如下所示的兩種解決方法。推薦第二種。
最終結果如下圖,左側為2d,右側為3d。
Good luck!關於代碼的原理解析,接下來的文章可能會詳細探討。
有道詞典 internal compil ... 詳細X 內部編譯錯誤:死亡
cartographer安裝--Ubuntu14.04--indigo