Cartographer系列之一——初体验

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Cartographer简介

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. This project provides Cartographer's ROS integration.
Cartographer是google开源的通用2D和3D定位与地图同步构建的SLAM工具，并提供ROS接口。
官网地址：https://github.com/googlecartographer

安装说明

  1. 官网提供了基于Ubuntu14.04（Trusty）和ROS（indigo）的安装和测试说明，有博客写道在Ubuntu16.04（Xenial）和ROS（Kinetic）上安装和测试成功，该博客也有Cartographer的介绍和安装流程：
    http://blog.csdn.net/zhangrelay/article/details/52757573
  2. 以下安装流程主要参考hitcm（张明明）的博客及Cartographer的官方安装教程：

安装流程

    1. 安装Ubuntu14.04（Trusty），将安装镜像文件制作U盘镜像，进入BIOS或WIN10下进入设置->更新和安全->恢复->高级启动，使用U盘启动，完成Ubuntu14.04（Trusty）的安装。
    2. 安装ROS（indigo），参考文件http://wiki.ros.org/indigo/Installation/Ubuntu（英文原版）、http://wiki.ros.org/cn/indigo/Installation/Ubuntu（中文翻译）；
      注意： 如果每次打开一个新的终端时ROS环境变量都能够自动配置好（即添加到bash会话中），那将会方便得多：
      echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
      source ~/.bashrc
      如果你安装有多个ROS版本, ~/.bashrc 必须只能 source你当前使用版本所对应的 setup.bash。
      如果你只想改变当前终端下的环境变量，你可以执行命令：
      source /opt/ros/indigo/setup.bash
    3. 安装所有依赖项
      # 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 \
      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
    4. 安装ceres solver，下载安装在主目录下，由于googlesource.com需要FQ，这里使用hitcm（张明明）的github地址
      # Build and install Ceres.
      # git clone https://ceres-solver.googlesource.com/ceres-solver
      # cd ceres-solver
      git clone https://github.com/hitcm/ceres-solver-1.11.0.git
      cd ceres-solver-1.11.0
      mkdir build
      cd build
      cmake .. -G Ninja
      ninja
      ninja test
      sudo ninja install
    5. 安装cartographer，下载安装在主目录下，这里同样使用的是hitcm（张明明）的github地址
      # Build and install Cartographer.
      git clone https://github.com/hitcm/cartographer.git
      cd cartographer
      mkdir build
      cd build
      cmake .. -G Ninja
      ninja
      ninja test
      sudo ninja install
    6. 安装cartographer_ros，这里使用的是hitcm（张明明）的github地址，由于google官方的教程需要FQ下载一些文件，因此容易失败，经验证hitcm（张明明）对原文件进行了少许修改后可以成功安装，在他的修改中核心代码不变，只修改了编译文件。
      We recommend using wstool and rosdep. For faster builds, we also recommend using Ninja.
      # Install wstool and rosdep.
      sudo apt-get update
      sudo apt-get install -y python-wstool python-rosdep ninja-build
      # Create a new workspace in 'catkin_ws'.
      mkdir catkin_ws
      cd catkin_ws
      wstool init src
      # 下载到catkin_ws下面的src文件夹下面
      cd src
      git clone https://github.com/hitcm/cartographer_ros.git
      # 然后到catkin_ws下面运行catkin_make安装
      cd
      cd catkin_ws
      catkin_make
      source ./devel/setup.bash
      注意： 如果每次打开一个新的终端时ROS环境变量都能够自动配置好（即添加到bash会话中），那将会方便得多：
      echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
      source ~/.bashrc
      如果你只想改变当前终端下的环境变量，你可以执行命令：
      source ~/catkin_ws/devel/setup.bash
    7. 运行DEMO
      Now that Cartographer and Cartographer’s ROS integration are installed, download the example bags (e.g. 2D and 3D backpack collections of the Deutsches Museum) to a known location, in this case ~/Downloads, and use roslaunch to bring up the demo:
      # Download the 2D backpack example bag.
      wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
      # Launch the 2D backpack demo.
      roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
      # Download the 3D backpack example bag.
      wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag
      # Launch the 3D backpack demo.
      roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/cartographer_3d_deutsches_museum.bag
      # Download the Revo LDS example bag.
      wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
      # Launch the Revo LDS demo.
      roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag
      # Download the PR2 example bag.
      wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag
      # Launch the PR2 demo.
      roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag
      The launch files will bring up roscore and rviz automatically.
posted @ 2016-10-14 16:33  wen_hust  阅读(5923)  评论(0)  编辑  收藏  举报