cartographer安装

最新推荐文章于 2024-03-11 15:21:50 发布

Bikini蟹老板

最新推荐文章于 2024-03-11 15:21:50 发布

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分类专栏： ROS

本文链接：https://blog.youkuaiyun.com/console_log/article/details/80233079

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本文档指导如何在不使用ROS的情况下安装并配置Cartographer SLAM系统所需的依赖库，包括Ceres、proto3等，以及具体的构建和安装步骤。

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Getting started without ROS

# 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 \
    libcairo2-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libsuitesparse-dev \
    ninja-build \
    python-sphinx

VERSION="1.13.0"

# Build and install Ceres.
git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
git checkout tags/${VERSION}
mkdir build
cd build
cmake .. -G Ninja -DCXX11=ON
ninja
CTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install

VERSION="v3.4.1"

# Build and install proto3.
git clone https://github.com/google/protobuf.git
cd protobuf
git checkout tags/${VERSION}
mkdir build
cd build
cmake -G Ninja \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_BUILD_TYPE=Release \
  -Dprotobuf_BUILD_TESTS=OFF \
  ../cmake
ninja
sudo ninja install

# Build and install Cartographer.
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
CTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install