Cartographer安装

安装过程：

官方安装教程：

https://google-cartographer-ros.readthedocs.io/en/latest/index.html

# 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

# 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.rosinstall
wstool update -t src
//在这一步可能会显示无法下载cere-solver
/*
解决办法手动下载cere-solver 然后放到src中
下载链接：https://ceres-solver.googlesource.com/ceres-solver.git/+/1.13.0
点击页面中的tgz可以下载，下载后解压到src中
# Install proto3.
src/cartographer/scripts/install_proto3.sh

# 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 init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
//这里要修改ROS_DISTRO为自己的ros版本如kinetic或者indigo
# Build and install.
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

下载安装完毕以后，运行数据集。

下载数据集。

# 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/with_intensities/b3-2016-04-05-14-14-00.bag

# Launch the 3D backpack demo.
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag

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二维数据集运行

结果如下所示：

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 rosbag内容：

 //输入命令
 rostopic list
 //得到数据包内容，并且用rostopic echo /topic_name 来查看各个topic的内容
 /clicked_point
 /clock
 /horizontal_laser_3d//有数据，  frame_id: "horizontal_vlp16_link"
 /imu//有数据，frame_id: "imu_link"
 /initialpose
 /map
 /map_updates
 /move_base/DWAPlannerROS/global_plan
 /move_base/global_costmap/costmap
 /move_base/global_costmap/costmap_updates
 /move_base/global_costmap/footprint
 /move_base/local_costmap/costmap
 /move_base/local_costmap/costmap_updates
 /move_base_simple/goal
 /particlecloud
 /rosout
 /rosout_agg
 /scan
 /tf
 /tf_static
 /velodyne_points//没有数据
 /vertical_laser_3d//有数据，frame_id: "vertical_vlp16_link"

这里有vertical和horizaontal两个laser_3d，如何理解，还有velodyne_points。

利用rostopic查看各个数据信息：

发现

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跑3维度数据集效果：

在跑3维数据集的时候，查看rostopic

 rostopic list
 /clicked_point
 /clock
 /constraint_list
 /horizontal_laser_3d
 /imu
 /initialpose
 /joint_states
 /landmark_poses_list
 /map
 /move_base_simple/goal
 /rosout
 /rosout_agg
 /scan_matched_points2
 /submap_list
 /tf
 /tf_static
 /trajectory_node_list
 /vertical_laser_3d

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用自己的传感器跑cartographer

由于传感器的rostopic不同，我们需要对cartographer订阅的名称进行修改，需要在launch文件中进行修改，但是修改后发现没有任何作用，这是因为修改后需要重新按照上面的流程进行编译安装，这个可能是因为在安装的时候其实已经把launch文件安装到系统中了，所以我们调用的时候还是调用系统中的launch文件

 但是按照网络上的修改版本后可以直接修改，不用走以上的流程

修改好名称接入以后出现问题

Queue（0，imu）exceeds maximum size.

Queue(0,points2_1) exceeds maximum size.

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