谷歌Cartographer学习(1)-快速安装测试

    谷歌自己提供了安装方法,但是安装比较繁琐,我做了一定的修改,代码放到个人github上,https://github.com/hitcm/

    ros下面的安装非常快捷,只需要catkin_make即可。

更多细节,可以看看知乎的问题https://www.zhihu.com/question/51348391/answer/125560951?from=profile_answer_card

    个人理解错误的地方还请不吝赐教,转载请标明出处,内容如有改动更新,请看原博:http://www.cnblogs.com/hitcm/,如有任何问题,feel free to contact me at robotsming@gmail.com

     如有问题,请及时反馈给我,博客会持续更新

     如下,需要安装3个软件包,ceres solver、cartographer和cartographer_ros

0.安装所有依赖项

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.首先安装ceres solver,选择的版本是1.11,路径随意

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 –j

5.      sudo make install

 

2.然后安装 cartographer,路径随意

1.      git clone https://github.com/hitcm/cartographer.git

2 .     cd cartographer/build

3.       cmake .. -G Ninja

4.       ninja

5.       ninja test

6.       sudo ninja install

上述第3步执行错误的同学可以忽略3-6步,改用下面的方法。

7.      cmake  ..

8 .     make

9.      sudo make install

3.安装cartographer_ros。

谷歌官方提供的安装方法比较繁琐,我对原来的文件进行了少许的修改,核心代码不变,只是修改了编译文件

下载到catkin_ws下面的src文件夹下面

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

然后到catkin_ws下面运行catkin_make即可。

4.数据下载测试

2d数据,大概500M,用迅雷下载

https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

3d数据,8G左右,同样用迅雷下载

https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag
有同学反映上面链接失效了,请用下面的即可。
https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag
 
然后运行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
刚开始使用ROS的同学运行下面两句是无法工作的,可能出现的错误如下。

[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

这种错误的主要原因是ros的catkin_ws配置问题,可以运行rospack profile试试。

实在不行还有如下所示的两种解决方法。推荐第二种。

image

image

最终结果如下图,左侧为2d,右侧为3d。
Good luck!关于代码的原理解析,接下来的文章可能会详细探讨
imageimage
 
posted @ 2016-10-08 17:27 hitcm 阅读(...) 评论(...) 编辑 收藏