ROS中安装使用cartographer - Something TO DO

ROS中安装使用cartographer

Something TO DO posted @ 2018年3月11日 21:39 in SLAM with tags ROS slam cartographer , 2089 阅读

因为下载cere-solver需要链接外网,所以需要翻墙。

一、准备工作

Ubuntu翻墙

工具(lantern)

下载链接:https://github.com/getlantern/lantern

在Readme文档内下载相应版本(32或64位)的lantern,

即可得到相应的安装文件:

比如 lantern-installer-beta-64-bit.deb

在文件所在目录执行:

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

安装完成后启动Lantern:

$lantern

二、安装过程及命令

# 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

 

# Install proto3.

src/cartographer/scripts/install_proto3.sh

 

# 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

 

三、运行google提供的demo,显示google采集到的一个房间的地图

# 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

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