ROS中安装使用cartographer - Something TO DO


Something TO DO posted @ 2018年3月11日 21:39 in SLAM with tags ROS slam cartographer , 2187 阅读








比如 lantern-installer-beta-64-bit.deb


sudo dpkg -i lantern-installer-beta-64-bit.deb




# 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

wstool update -t src


# Install proto3.



# Install deb dependencies.

rosdep update

rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y


# Build and install.

catkin_make_isolated --install --use-ninja

source install_isolated/setup.bash



# Download the 2D backpack example bag.

wget -P ~/Downloads

# Launch the 2D backpack demo.

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

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