cartographer安裝分為兩種,一種為國內大神張明明修改安裝版(自己實測沒問題),一種為官方安裝教程(裝了n遍一直報錯,最終改好了,不的不說官網就是個坑)....

向大神致敬,第一種國內大神修改版如下:

1.install dependency

$  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-kinetic(特別注意這個和你安裝的ros版本相匹配,選擇適合自己的)-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

2.install ceres solver (路徑你可以自己隨意,不過建議最好和和下面安裝的放在一起;如: path:/home/zc/)

$  git clone https://github.com/hitcm/ceres-solver-1.11.0.git $  mkdir build $  cd ceres-solver-1.11.0/build $  cmake .. $  make –j $  sudo make install (err:check dependency 如果報錯,請檢視依賴項是否新增正確)

3.install cartographer

$  git clone https://github.com/hitcm/cartographer.git $  mkdir build $  cd cartographer/build $  cmake .. -G Ninja $  ninja $  ninja test $  sudo ninja install

4.install cartographer_ros

$  sudo apt-get update $  sudo apt-get install -y python-wstool python-rosdep ninja-build $  mkdir catkin_ws $  cd catkin_ws $  wstool init src $  cd src $  git clone https://github.com/hitcm/cartographer_ros.git $  cd $  cd catkin_ws $  catkin_make

最後為了避免每次都要加工作空間麻煩,所以可以執行下面的直接寫好即可. echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

到此國內大神修改版安裝完成可以下載demo自己玩了,不過對電腦效能要求還是有點高的,通過建圖你就可以看出來了,這裡不囉嗦了.

官網安裝 cartographer官方安裝

  一、安裝wstool，rosdep，ninja等

  1、sudo apt-get update

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

  二、建立cartographer的工作空間

  3、mkdir catkin_ws

  4、cd catkin_ws

  5、wstool init src  三、下載ceres-solver、cartographer、cartographer_ros工程程式碼

  6. wstool merge -t src git: {local-name: cartographer, uri: 'https://github.com/googlecartographer/cartographer.git', version: '1.0.0'}       wstool merge -t src git: {local-name: cartographer_ros, uri: 'https://github.com/googlecartographer/cartographer_ros.git', version: '1.0.0'}      wstool merge -t src git: {local-name: ceres-solver, uri:'https://github.com/ceres-solver/ceres-solver.git', version: '1.13.0'}        7.wstool update -t src    四、安裝proto3. (如果已經安裝完ros,就不要在執行這條命名,親測大坑)

  10、src/cartographer/scripts/install_proto3.sh

   該指令碼實際上是進行下載protobuf，編譯，安裝。  五、安裝deb依賴

   11、sudo rosdep init

   12、rosdep update

   13、rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

 六、編譯

   14、catkin_make_isolated --install --use-ninja

   15、source install_isolated/setup.bash

到此官網也安裝完成了,下載demo玩吧.

七、測試

   1、下載任意資料包

   http://google-cartographer-ros.readthedocs.io/en/latest/data.html

   2、roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=資料包路徑

   3、如能正常建圖，則cartographer安裝成功。