ROS中安装使用cartographer - Something TO DO
ROS中安装使用cartographer
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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