ubuntu18.04+melodic--cartograper安装记录

目录

一.安装cartographer，借鉴下面的大佬资源：

二.下载测试包测试建图

1.下载官网提供2D数据包测试：

2.此时的应在工作空间的目录下，执行测试：

！注意：roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=（你的数据包所在位置）/cartographer_paper_deutsches_museum.bag，如下：

如果位置错了会报错

3.官方同时提供了3D数据包，感兴趣的可以下载跑跑看，步骤同上

在工作空间的目录下，执行测试（同样要注意位置）：

三.运行效果

​编辑

查看tf树：

​编辑查看图ros_graph:

​编辑

第三部分参考：

cartographer算法 2022实测部署成功（ubuntu18.04 melodic）_ubuntu18安装cartographer-优快云博客https://blog.youkuaiyun.com/qq_40528849/article/details/126268971https://blog.youkuaiyun.com/qq_40528849/article/details/126268971https://blog.youkuaiyun.com/qq_40528849/article/details/126268971https://blog.youkuaiyun.com/qq_40528849/article/details/126268971

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一.安装cartographer，借鉴下面的大佬资源：

Ubuntu18.04+cartographer安装（2024.9.7 亲测成功） - cyMessi - 博客园https://www.cnblogs.com/cyMessi/p/18401927https://www.cnblogs.com/cyMessi/p/18401927https://www.cnblogs.com/cyMessi/p/18401927https://www.cnblogs.com/cyMessi/p/18401927https://www.cnblogs.com/cyMessi/p/18401927

二.下载测试包测试建图

1.下载官网提供2D数据包测试：

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

2.此时的应在工作空间的目录下，执行测试：

source install_isolated/setup.bash
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/cartographer_paper_deutsches_museum.bag

！注意：
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=（你的数据包所在位置）/cartographer_paper_deutsches_museum.bag，如下：

    roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=/home/nb/datasets/cartographer_paper_deutsches_museum.bag

      其中/home/nb/datasets/路径替换为自己的

如果位置错了会报错

3.官方同时提供了3D数据包，感兴趣的可以下载跑跑看，步骤同上

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag

在工作空间的目录下，执行测试（同样要注意位置）：

roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag

三.运行效果

查看tf树：

 rosrun rqt_tf_tree rqt_tf_tree

查看图ros_graph:

第三部分参考：

【Ubuntu18.04+melodic+cartographer安装并跑通官方测试例程】（2022.3.13跑通）_ros melodic cartographer 测试-优快云博客https://blog.youkuaiyun.com/qq_46387453/article/details/123455219https://blog.youkuaiyun.com/qq_46387453/article/details/123455219https://blog.youkuaiyun.com/qq_46387453/article/details/123455219https://blog.youkuaiyun.com/qq_46387453/article/details/123455219https://blog.youkuaiyun.com/qq_46387453/article/details/123455219

cartographer算法 2022实测部署成功（ubuntu18.04 melodic）_ubuntu18安装cartographer-优快云博客https://blog.youkuaiyun.com/qq_40528849/article/details/126268971https://blog.youkuaiyun.com/qq_40528849/article/details/126268971https://blog.youkuaiyun.com/qq_40528849/article/details/126268971https://blog.youkuaiyun.com/qq_40528849/article/details/126268971https://blog.youkuaiyun.com/qq_40528849/article/details/126268971