Ubuntu 18.04 Cartographer安装教程

最新推荐文章于 2025-05-08 12:01:00 发布

charyman

最新推荐文章于 2025-05-08 12:01:00 发布

阅读量2.8k

点赞数 4

CC 4.0 BY-SA版权

分类专栏：自动驾驶文章标签： ubuntu 自动驾驶 linux

本文链接：https://blog.youkuaiyun.com/charyman/article/details/121300545

自动驾驶专栏收录该内容

1 篇文章

订阅专栏

本文档详述了如何在Ubuntu18.04和ROS Melodic环境下安装CartographerROS，包括更新系统、安装依赖、下载源码、编译及测试2D和3D建图与定位功能。主要步骤涉及wstool、rosdep的使用，以及源码的下载、安装abseil-cpp和编译CartographerROS。

摘要生成于 C知道，由 DeepSeek-R1 满血版支持，前往体验 >

1. 运行环境

操作系统：Ubuntu 18.04

ROS版本：Melodic

2. 依赖的编译工具

为了编译Cartographer ROS，需要wstool、rosdep以及google的并行编译工具Ninja。

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

3. 下载代码并更新ROS依赖

3.1 初始化工作空间

mkdir catkin_ws
cd catkin_ws
wstool init src

3.2 更新.rosinstall文件

wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall

.rosinstall文件内容如下：

# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2021-10-29
- git:
    local-name: cartographer
    uri: https://github.com/cartographer-project/cartographer.git
    version: master
- git:
    local-name: cartographer_ros
    uri: https://github.com/cartographer-project/cartographer_ros.git
    version: master

直接下载有可能会遇到连接不上或超时问题，因此在这里将github的URL更换为其镜像网站的URL：

# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2021-10-29
- git:
    local-name: cartographer
    uri: https://github.com.cnpmjs.org/cartographer-project/cartographer.git
    version: master
- git:
    local-name: cartographer_ros
    uri: https://github.com.cnpmjs.org/cartographer-project/cartographer_ros.git
    version: master

3.3 下载Cartographer代码

wstool update -t src

3.4 更新cartographer_ros所需的ROS依赖

sudo rosdep init 之前如执行过该语句，则本次不需要执行
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

4. 安装abseil-cpp

src/cartographer/scripts/install_abseil.sh

由于可能与ROS自带的abseil-cpp版本有冲突，因此需要卸载ROS版本的abseil-cpp：

sudo apt-get remove ros-${ROS_DISTRO}-abseil-cpp

5. 编译并安装

catkin_make_isolated --install --use-ninja

6. 测试

配置Cartographer的ROS运行环境

source install_isolated/setup.bash

2D建图测试

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

3D建图测试

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag

纯定位建图测试

#下载2D bag包文件
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-05-14-44-52.bag
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-27-12-31-41.bag

#生成map并运行纯定位
roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag
roslaunch cartographer_ros demo_backpack_2d_localization.launch \
   load_state_filename:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag.pbstream \
   bag_filename:=${HOME}/Downloads/b2-2016-04-27-12-31-41.bag