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Cartographer安装流程

安装与编译

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

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1. 安装ceres solver 1.11

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

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$ cd ceres-solver-1.11.0/build
$ cmake ..
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$ make
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$ sudo make install
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2. 安装cartographer

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

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$ cd cartographer/build
$ cmake ..
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$ make
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$ sudo make install
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3. 安装cartographer_ros

$ sudo apt-get update
$ sudo apt-get install -y python-wstool python-rosdep ninja-build

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$ mkdir catkin_ws
$ cd catkin_ws
$ wstool init src

下载到catkin_ws下面的src文件夹下面
$ git clone https://github.com/hitcm/cartographer_ros.git
到catkin_ws下面运行catkin_make
$ catkin_make

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4. 数据下载测试

$ catkin_make_isolated --install --use-ninja
注意： 上面这一步需要翻墙才能访问网址
$ source install_isolated/setup.bash

4.运行样例

1. 下载2D样例包并运行

$ wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
安装成功：

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$ roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
运行结果：

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Experimental Experience——实验心得

在本次实验中主要是跟着教程安装与配置cartographer，需要注意的是在首次运行时会报错，此时执行以下两句：
$ source ~/catkin_ws/devel/setup.bash
$ rospack profile
即可正常运行。