Cartographer+北阳雷达实现

http://blog.youkuaiyun.com/happiness_jia/article/details/52856197

一、在安装cartographer前，需要系统满足如下的要求：

·        64-bit, modern CPU (e.g. 3rd generation i7)

·        16 GB RAM

·        Ubuntu 14.04 (Trusty)

·        gcc version 4.8.4

·        ROS Indigo

二、安装过程及命令：

# Install wstool and rosdep.

sudo apt-getupdate

sudo apt-getinstall -y Python-wstool python-rosdep ninja-build

# Create a new workspace in 'catkin_ws'.

mkdir catkin_ws

cd catkin_ws

wstool init src

# Merge the cartographer_ros.rosinstall file and fetchcode for dependencies.

wstool merge -tsrchttps://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall

wstool update -tsrc

# Install deb dependencies.

rosdep update

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

# Build and install.

catkin_make_isolated --install --use-ninja

isolated --install --use-ninja

source install_isolated/setup.bash

备注：

问题：在catkin_make_isolated --install --use-ninja这一步，需要连接国外网下载ceres-solver，如果没有翻墙，会提示下载ceres-solver失败。

解决方法：

1.购买个VPN，连上国外网，翻墙后再运行该步骤的命令

2. 打开下面这个文件，修改git下载的地址

build_isolated/ceres_solver/install/ceres_src-prefix/tmp/ceres_src-gitclone.cmake

红色部分修改成如下这样

while(error_codeAND number_of_tries LESS 3)

  execute_process(

    COMMAND "/usr/bin/git" clone"https://github.com/ceres-solver/ceres-solver" "ceres_src"

    WORKING_DIRECTORY

修改好后从新运行该步骤命令

三、运行google提供的demo，显示google采集到的一个房间的地图。

# Download the 2D backpack example bag.

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

# Launch the 2D backpack demo.

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

备注，在运行测试这个demo的过程中，本人出现了两个错误：

1.rviz提示错误。原因是我是用teamviewer远程连到机器人上操作的，而rviz无法在远程运行显示。所以本人只好在机器人上接上了显示器，这样rviz就能正常运行了

2.playbag提示错误。原因是cartographer_paper_deutsches_museum.bag这个包没有完整下载。完整下载应该是500M左右。

四、利用cartographer，实现实时的构图定位

1.先将激光雷达节点的运行起来

rosrun hokuyo hokuyo

2.修改demo_revo_lds.launch

vim demo_revo_lds.launch

修改后的文件如下：

<launch>

  <param name="/use_sim_time" value="true" />

  <node name="cartographer_node" pkg="cartographer_ros"

      type="cartographer_node" args="

          -configuration_directory $(find cartographer_ros)/configuration_files

          -configuration_basename revo_lds.lua"

      output="screen">

    <remap from="scan" to="scan" />

  </node>

  <node name="rviz" pkg="rviz" type="rviz" required="true"

      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />

</launch>

3.修改配置参数文件revo_lds.lua

vim ../configuration_files/revo_lds.lua

修改后的文件如下：

include "map_builder.lua"

options = {

  map_builder = MAP_BUILDER,

  sensor_bridge = {

    horizontal_laser_min_range = 0.3,

    horizontal_laser_max_range = 5.6,

    horizontal_laser_missing_echo_ray_length = 1.2,

    constant_odometry_translational_variance = 0.,

    constant_odometry_rotational_variance = 0.,

  },

  map_frame = "map",

  tracking_frame = "laser",

  published_frame = "laser",

  odom_frame = "odom",

  provide_odom_frame = true,

  use_odometry_data = false,

  use_horizontal_laser = true,

  use_horizontal_multi_echo_laser = false,

  num_lasers_3d = 0,

  lookup_transform_timeout_sec = 0.2,

  submap_publish_period_sec = 0.3,

  pose_publish_period_sec = 5e-3,

}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.use_imu_data = false

TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true

SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2

return options

4.重新编译

catkin_make_isolated --install --use-ninja

5.运行脚本进行实时构图定位

roslaunch cartographer_ros demo_revo_lds.launch

备注：

1.如果您使用的激光雷达不同，上面修改demo_revo_lds.launch和配置参数文件revo_lds.lua可能需要做相应的调整。

以上方案安装要是不行，可能就是下载不了一些ceres非线性优化库啦什么的原因，用国内张明明的github下载

http://www.cnblogs.com/wenhust/p/5961017.html

Cartographer简介

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. This project provides Cartographer's ROS integration.
Cartographer是google开源的通用2D和3D定位与地图同步构建的SLAM工具，并提供ROS接口。
官网地址：https://github.com/googlecartographer

安装说明

1. 官网提供了基于Ubuntu14.04（Trusty）和ROS（indigo）的安装和测试说明，有博客写道在Ubuntu16.04（Xenial）和ROS（Kinetic）上安装和测试成功，该博客也有Cartographer的介绍和安装流程：
   http://blog.youkuaiyun.com/zhangrelay/article/details/52757573
2. 以下安装流程主要参考hitcm（张明明）的博客及Cartographer的官方安装教程：
   • hitcm（张明明）博客：http://www.cnblogs.com/hitcm/p/5939507.html
   • 官方安装教程Getting started without ROS: https://google-cartographer.readthedocs.io/en/latest/
   • 官方安装教程Getting started with ROS: https://google-cartographer-ros.readthedocs.io/en/latest/

安装流程

1. 1. 安装Ubuntu14.04（Trusty），将安装镜像文件制作U盘镜像，进入BIOS或WIN10下进入设置->更新和安全->恢复->高级启动，使用U盘启动，完成Ubuntu14.04（Trusty）的安装。
   2. 安装ROS（indigo），参考文件http://wiki.ros.org/indigo/Installation/Ubuntu（英文原版）、http://wiki.ros.org/cn/indigo/Installation/Ubuntu（中文翻译）；
      注意： 如果每次打开一个新的终端时ROS环境变量都能够自动配置好（即添加到bash会话中），那将会方便得多：
      echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc
      如果你安装有多个ROS版本, ~/.bashrc 必须只能 source你当前使用版本所对应的 setup.bash。
      如果你只想改变当前终端下的环境变量，你可以执行命令：
      source /opt/ros/indigo/setup.bash
   3. 安装所有依赖项
      # 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 \
libeigen3-dev \
libgflags-dev \
libgoogle-glog-dev \
liblua5.2-dev \
libprotobuf-dev \
libsuitesparse-dev \
libwebp-dev \
ninja-build \
protobuf-compiler \
python-sphinx \
ros-indigo-tf2-eigen \
libatlas-base-dev \
libsuitesparse-dev \
liblapack-dev
   4. 安装ceres solver，下载安装在主目录下，由于googlesource.com需要FQ，这里使用hitcm（张明明）的github地址
      # Build and install Ceres.
# git clone https://ceres-solver.googlesource.com/ceres-solver
# cd ceres-solver
git clone https://github.com/hitcm/ceres-solver-1.11.0.git
cd ceres-solver-1.11.0
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install
   5. 安装cartographer，下载安装在主目录下，这里同样使用的是hitcm（张明明）的github地址
      # Build and install Cartographer.
git clone https://github.com/hitcm/cartographer.git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install
   6. 安装cartographer_ros，这里使用的是hitcm（张明明）的github地址，由于google官方的教程需要FQ下载一些文件，因此容易失败，经验证hitcm（张明明）对原文件进行了少许修改后可以成功安装，在他的修改中核心代码不变，只修改了编译文件。
      We recommend using wstool and rosdep. For faster builds, we also recommend using Ninja.
      # Install wstool and rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
# Create a new workspace in 'catkin_ws'.
mkdir catkin_ws
cd catkin_ws
wstool init src
# 下载到catkin_ws下面的src文件夹下面
cd src
git clone https://github.com/hitcm/cartographer_ros.git
# 然后到catkin_ws下面运行catkin_make安装
cd
cd catkin_ws
catkin_make
source ./devel/setup.bash
      注意： 如果每次打开一个新的终端时ROS环境变量都能够自动配置好（即添加到bash会话中），那将会方便得多：
      echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
      如果你只想改变当前终端下的环境变量，你可以执行命令：
      source ~/catkin_ws/devel/setup.bash
   7. 运行DEMO
      Now that Cartographer and Cartographer’s ROS integration are installed, download the example bags (e.g. 2D and 3D backpack collections of the Deutsches Museum) to a known location, in this case ~/Downloads, and use roslaunch to bring up the demo:
      # Download the 2D backpack example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
# Launch the 2D backpack demo.
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
# Download the 3D backpack example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag
# Launch the 3D backpack demo.
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/cartographer_3d_deutsches_museum.bag
# Download the Revo LDS example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
# Launch the Revo LDS demo.
roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag
# Download the PR2 example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag
# Launch the PR2 demo.
roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag
      The launch files will bring up roscore and rviz automatically.