ROS-learning-CartoGrapher Installation Steps

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本文详细介绍了一种在Ubuntu环境下快速安装谷歌Cartographer SLAM系统的步骤。包括安装依赖项、ceres-solver及Cartographer核心组件的方法，并通过catkin_make_isolated构建Cartographer ROS模块。

Reference :

Steps:

安装所有依赖项

sudo apt-get install -y 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

1.首先安装ceres solver，选择的版本是1.11,路径随意

1. git clone https://github.com/hitcm/ceres-solver-1.11.0.git

2. cd ceres-solver-1.11.0

3. cmake .

4. make -j

5. sudo make install

2.然后安装 cartographer,路径随意

1. git clone https://github.com/googlecartographer/cartographer.git

2 . cd cartographer

3. cmake .

4. make

5. sudo make install

3.安装cartographer_ros。( Create a new workspace to build this package because of using catkin_make_isolated rather than catkin_make)

# 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_new'.
mkdir catkin_ws_new
cd catkin_ws_new
wstool init src

# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src  #This command will install three packages (ceres solver , cartographer ,cartographer_ros),we only use cartographer_ros others could be deleted

# Install deb dependencies.
# The command 'sudo rosdep init' will print an error if you have already
# executed it since installing ROS. This error can be ignored.
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y # here ROS_DISTRO is indigo

# Build and install.
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash