ros 安装cartographer

来源：互联网发布：好了歌注知乎编辑：程序博客网时间：2024/05/16 05:52

安装步骤如下：（完全follow 官网）：

# Install wstool and rosdep.sudo apt-get updatesudo apt-get install -y python-wstool python-rosdep ninja-build# Create a new workspace in 'catkin_ws'.mkdir catkin_wscd catkin_wswstool init src# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstallwstool update -t src# Install deb dependencies.# The command 'sudo rosdep init' will print an error if you have already# executed it since installing ROS. This error can be ignored.sudo rosdep initrosdep updaterosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y# Build and install.catkin_make_isolated --install --use-ninjasource install_isolated/setup.bash

在上面的catkin_make_isolated --install --use-ninja 这一步时遇到一个build error

CMake Error at /home/xxx/catkin_ws/install_isolated/lib/cmake/Ceres/CeresConfig.cmake:88 (message):

Failed to find Ceres - Missing requested Ceres components:

[SparseLinearAlgebraLibrary] (components requested:

解决办法：

在/home/xxx/catkin_ws_cartographer/build_isolated/ceres-solver/install/CMakeCache.txt 里找到EIGENSPARSE:BOOL=OFF ， 把OFF 改成ON

重新:

catkin_make_isolated --install --use-ninja就OK.

运行cartographer算法来建图：

下载bag数据:下载2d的bag 数据（要vpn）

mkdir ~/map_data cd ~/map_data wget  https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bagrun cartographer建图: roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/map_data/cartographer_paper_deutsches_museum.bag

过程比较漫长，rqt_graph 查看节点之间的关系，如下图所示：

建的地图长相：todo 补上

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