karto slam

最新推荐文章于 2022-07-14 18:57:18 发布

二儿娃

最新推荐文章于 2022-07-14 18:57:18 发布

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分类专栏： TurtleBot ROS

本文链接：https://blog.youkuaiyun.com/hawaecho/article/details/9025975

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Intallation tuto:

http://answers.ros.org/question/46329/karto-installation/

slam_karto.cpp才是要编译的,编出来之后用前面给的launch file 自己再修改一下

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

<launch>
<node pkg="karto" type="slam_kart

o" name="slam_karto" output="screen">
   <remap from="scan" to="scan2d"/>
   <param name="odom_frame" value="odom"/>
   <param name="map_update_interval" value="5"/>
   <param name="resolution" value="0.025"/>
</node>
</launch>

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Correction:

1. 修改 CMakeLists.txt

# MUST USE THIS:
rosbuild_add_executable(bin/slam_karto src/slam_karto.cpp src/spa_solver.cpp)
target_link_libraries(bin/slam_karto OpenKarto)

之前注释了这两行。

2. Install eigen lib

turtle@turtle:~/ros/slam_karto-0.4.0/karto$ sudo apt-get install libeigen3-dev

3. 修改manifest.xml

<export>
<cpp cflags="-I${prefix}/karto/include -I/usr/include/eigen3" lflags="-Wl,-rpath,${prefix}/karto/lib -L${prefix}/karto/lib -lOpenKarto"/>
</export>
不知道是否有用。

4. /home/turtle/ros/slam_karto-0.4.0/karto/src/spa_solver.h:28:23: fatal error: Eigen/Eigen: No such file or directory

找不到，但是已经安装：

$ ls /usr/include/eigen3

$ pkg-config --cflags eigen3

在CMakeLists.txt 中的 set(ROS_BUILD_TYPE Release) 后面加上：

find_package(Eigen REQUIRED)
include_directories(${EIGEN_INCLUDE_DIRS})
add_definitions(${EIGEN_DEFINITIONS}

~~~~~~~~~~~~~~~~~~~~~~~~

Tools installation:

$ sudo apt-get install screen

$ sudo apt-get install apt-file

~~~~~~~~~~~~~~~~~~~~~~~~~~

P: 少了库 sba