Cartographer初体验(转载)
来源:互联网 发布:上海知爱月子会所 价格 编辑:程序博客网 时间:2024/05/12 14:08
Cartographer初体验(转载)
原文出处:http://www.cnblogs.com/wenhust/p/5961017.html
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
- 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 - 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:
- hitcm(张明明)博客:http://www.cnblogs.com/hitcm/p/5939507.html
- 官方安装教程Getting started without ROS: https://google-cartographer.readthedocs.io/en/latest/
- 官方安装教程Getting started with ROS: https://google-cartographer-ros.readthedocs.io/en/latest/
安装流程
- 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。
- 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
- 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
- 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
- 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
- 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 source ~/catkin_ws/devel/setup.bash
- 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.
0 0
- Cartographer初体验(转载)
- [ROS]Cartographer的初体验
- cartographer代码分析(转载)
- QT4 Designer 初体验-转载(经典)
- V4L2编程初体验(转载)
- kafka初体验(转载+自己)
- Storyboard初体验(转载)
- cartographer(2)安装
- cartographer
- cartographer
- 1.LinQ初体验 简单的示例(转载)
- JPA EntitManager初体验(转载,做个个人记录)
- Cartographer 源码分析(一)
- 【转载】Windows进程初体验 详解
- [转载]使用CxImage库的初体验
- 梁建章:体验完美组合(转载)
- 轻松体验多种操作系统(转载)
- 如何提高用户体验(转载)
- 嵌入式常见笔试题总结(6)
- 使用Spring(13)Spring与MyBatis整合(二)DataSourceTransactionManage把事务控制在Service层
- 通讯转发、(负载均衡)通讯分发器 G5
- 图片在div中居中多种方式
- 集合源码分析----ConcurrentHashMap
- Cartographer初体验(转载)
- Windows7 下安装GT4.0.2
- hashcode和equals
- Codeforces Round #376 (Div. 2) D. 80-th Level Archeology
- unity Profiler性能分析
- Android 业务组件化开发实践
- 设计模式(三)观察者模式
- ROS系列之初识gmapping(转载)
- 纯java代码使用ssh方式登录linux服务