张明明的cartographer 安装方法 测试可用。

时间:2023-02-03 09:54:41

   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,ros下面的安装非常快捷,只需要catkin_make即可。

    放到个人github上,https://github.com/hitcm/

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

     如下,需要安装3个软件包,ceres solver、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

git clone https://github.com/hitcm/ceres-solver-1.11.0.git

cd ceres-solver-1.11.0/build

cmake ..

make –j

sudo make install

 

2.然后安装 cartographer,路径随意

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

cd cartographer/build

cmake .. -G Ninja

ninja

ninja test

sudo ninja 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
 
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
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
张明明的cartographer 安装方法 测试可用。张明明的cartographer 安装方法 测试可用。