Cartographer_ROS初探

Cartographer ROS版的官方地址：https://github.com/googlecartographer/cartographer_ros

程序的安装运行，参考了官方安装教程（https://google-cartographer-ros.readthedocs.io/en/latest/）。

环境： i7    ubuntu 14.04 + ROS indigo

安装步骤（参考官方教程）

#Install wstool and rosdep

sudo apt-get update

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

#Create a new workspace

mkdir catkin_ws

cd catkin_ws

wstool init src

#Merge the cartographer_ros. rosinstall file and fetch code for dependences

wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src

#Install deb dependence.

rosdep init

rosdep update

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

#Build and install

catkin_make_isolated --install --use-ninja

source install_isolated/setup.bash

谷歌给提供了几个数据包，下载并试运行。

# 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/b3-2016-04-05-14-14-00.bag

# Launch the 3D backpack demo.
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.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

# Download the Taurob Tracker example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag

# Launch the Taurob Tracker demo.
roslaunch cartographer_ros demo_taurob_tracker.launch bag_filename:=${HOME}/Downloads/taurob_tracker_simulation.bag

运行结果：

2D backpack example bag的效果：

实验机内存8G，随着代码的运行，内存占用越来越大，，切换界面会有明显的卡顿感。

以上主要记录了个人的操作步骤，请以官方教程为主。