cartographer安装--Ubuntu14.04--indigo

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

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

2.      cd ceres-solver-1.11.0/build

3.      cmake  ..

4 .     make

5.      sudo make install

2.然后安装 cartographer,路径随意

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

2 .     cd cartographer/build

3.      cmake  ..

4 .     make

5.      sudo make install

3.安装cartographer_ros。

mkdir ~/catkin_ws/src

cd ~/catkin_ws/src

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

然后到catkin_ws下面运行catkin_make即可:

cd ..

catkin_make

(=。=，如果编译过程出错internal compiler error: Killed，请看此链接https://blog.csdn.net/qq_29573053/article/details/69665996)

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

有同学反映上面链接失效了，请用下面的即可。

https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.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

刚开始使用ROS的同学运行下面两句是无法工作的，可能出现的错误如下。

[demo_backpack_2d.launch] is neither a launch file in package [cartographer_ros] nor is [cartographer_ros] a launch file name 
The traceback for the exception was written to the log file

这种错误的主要原因是ros的catkin_ws配置问题，可以运行rospack profile试试。

实在不行还有如下所示的两种解决方法。推荐第二种。

最终结果如下图，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。

有道词典

internal compil ...

详细X

内部编译错误:死亡