cartographer+ubuntu20.04 全记录

版本

代码包	版本
cartographer_ros	master
cartographer	master
ceres-solver	1.13.0

工具

sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow

sudo apt-get install python3-pip
pip3 install sphinx

环境制作

mkdir carto_ws
cd carto_ws
wstool init src
cd src

git clone https://github.com/googlecartographer/cartographer_ros.git
git clone https://github.com/googlecartographer/cartographer.git
git clone https://github.com/ceres-solver/ceres-solver.git

//注意：其中的版本一定要适配，我放一个百度网盘的链接里面是我使用的版本，你直接粘贴到src/文件夹下面（记得解压[捂脸笑]）

链接：https://pan.baidu.com/s/1mMyHC-1Mip_0cME-Pu82jQ 提取码：2024

依赖

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

//注意：第二句命令会报错：[libabsl-dev]找不到，没事，去刚刚下载的cartographer文件夹下的package.xml里面删掉第46行的<depend>libabsl-dev</depend>

安装abseil-cpp 库

src/cartographer/scripts/install_abseil.sh

// 注意：如果如果系统本身存在abseil-cpp 库，需要移除，防止冲突使用命令sudo apt-get remove ros-${ROS_DISTRO}-abseil-cpp，如果使用该命令发生报错如下：

Reading package lists... Done
Building dependency tree       
Reading state information... Done
E: Unable to locate package ros-noetic-abseil-cpp

说明你本来没有abseil-cpp 库，也可以直接进入下一步

ceres-solver 编译

apt-get install  liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev

cd ceres-solver
mkdir build
cd build
cmake ..
make -j4
make install

carto_ws 编译

catkin_make_isolated --install --use-ninja -DPYTHON_EXECUTABLE=$(which python3)

测试

先下载，后测试

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

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