Cartographer系列之一——初体验

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Cartographer简介

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. This project provides Cartographer's ROS integration.
Cartographer是google开源的通用2D和3D定位与地图同步构建的SLAM工具，并提供ROS接口。
官网地址：https://github.com/googlecartographer

安装说明

官网提供了基于Ubuntu14.04（Trusty）和ROS（indigo）的安装和测试说明，有博客写道在Ubuntu16.04（Xenial）和ROS（Kinetic）上安装和测试成功，该博客也有Cartographer的介绍和安装流程：
http://blog.csdn.net/zhangrelay/article/details/52757573

以下安装流程主要参考hitcm（张明明）的博客及Cartographer的官方安装教程：

hitcm（张明明）博客：http://www.cnblogs.com/hitcm/p/5939507.html

官方安装教程Getting started without ROS: https://google-cartographer.readthedocs.io/en/latest/

官方安装教程Getting started with ROS: https://google-cartographer-ros.readthedocs.io/en/latest/

安装流程

安装Ubuntu14.04（Trusty），将安装镜像文件制作U盘镜像，进入BIOS或WIN10下进入设置->更新和安全->恢复->高级启动，使用U盘启动，完成Ubuntu14.04（Trusty）的安装。

安装ROS（indigo），参考文件http://wiki.ros.org/indigo/Installation/Ubuntu（英文原版）、http://wiki.ros.org/cn/indigo/Installation/Ubuntu（中文翻译）；
注意： 如果每次打开一个新的终端时ROS环境变量都能够自动配置好（即添加到bash会话中），那将会方便得多：

echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc

source ~/.bashrc

如果你安装有多个ROS版本,

~/.bashrc

必须只能

source

你当前使用版本所对应的

setup.bash

。
如果你只想改变当前终端下的环境变量，你可以执行命令：

source /opt/ros/indigo/setup.bash

安装所有依赖项

# Install the required libraries that are available as debs.

sudo apt-get update

sudo apt-get install -y \

cmake \

g++ \

git \

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

安装ceres solver，下载安装在主目录下，由于googlesource.com需要FQ，这里使用hitcm（张明明）的github地址

# Build and install Ceres.

# git clone https://ceres-solver.googlesource.com/ceres-solver[/code] 
# cd ceres-solver

git clone https://github.com/hitcm/ceres-solver-1.11.0.git[/code] 
cd ceres-solver-1.11.0

mkdir build

cd build

cmake .. -G Ninja

ninja

ninja test

sudo ninja install


安装cartographer，下载安装在主目录下，这里同样使用的是hitcm（张明明）的github地址
# Build and install Cartographer.

git clone https://github.com/hitcm/cartographer.git[/code] 
cd cartographer

mkdir build

cd build

cmake .. -G Ninja

ninja

ninja test

sudo ninja install


安装cartographer_ros，这里使用的是hitcm（张明明）的github地址，由于google官方的教程需要FQ下载一些文件，因此容易失败，经验证hitcm（张明明）对原文件进行了少许修改后可以成功安装，在他的修改中核心代码不变，只修改了编译文件。
We recommend using wstool and rosdep. For faster builds, we also recommend using Ninja.
# 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

# 下载到catkin_ws下面的src文件夹下面

cd src

git clone https://github.com/hitcm/cartographer_ros.git[/code] 
# 然后到catkin_ws下面运行catkin_make安装

cd

cd catkin_ws

catkin_make

source ./devel/setup.bash

注意： 如果每次打开一个新的终端时ROS环境变量都能够自动配置好（即添加到bash会话中），那将会方便得多：
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

source ~/.bashrc

如果你只想改变当前终端下的环境变量，你可以执行命令：
source ~/catkin_ws/devel/setup.bash


运行DEMO
Now that Cartographer and Cartographer’s ROS integration are installed, download the example bags (e.g. 2D and 3D backpack collections of the Deutsches Museum) to a known location, in this case ~/Downloads, and use roslaunch to bring up the demo:
# 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/cartographer_3d_deutsches_museum.bag

# Launch the 3D backpack demo.

roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/cartographer_3d_deutsches_museum.bag

# Download the Revo LDS example bag.

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag[/code] 
# Launch the Revo LDS demo.

roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag

# Download the PR2 example bag.

wget -P ~/Downloads
 
https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag

# Launch the PR2 demo.

roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag

The launch files will bring up roscore and rviz automatically.