一文安装配置cartographer，gazebo中跑cartographer建图 & 导航

原创已于 2023-08-25 11:33:40 修改 · 1.4k 阅读

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#人工智能

于 2023-08-07 10:13:21 首次发布

解决问题思维

明确自己想要的（编译安装cartographer）；准备号基本的依赖环境确认版本直接编译即可（出错时，根据报错，缺什么解决什么即可）
（github加速，非必须）如果有梯子，在终端运行该命令可以让终端走代理，使得github拉项目十倍速以上(最后的ip端口填写自己代理的ip端口即可，此处是在本机开的代理)：git config --global http.proxy http://domain.local\vsilva:Passw0rd@127.0.0.1:7890

最简单方式——直接使用该脚本安装即可，想要看看详细的可以看后续的配置安装过程

#!/bin/bash
echo "delete cartographer_ws..."
sudo rm -rf ~/cartographer_ws/
mkdir -p ~/cartographer_ws/src 
echo "add git proxy..."
read -p "please enter http_proxy addr and its port(eg. 127.0.0.1:7890):" HTTP_PROXY
git config --global http.proxy http://domain.local\vsilva:Passw0rd@$HTTP_PROXY

cd ~/cartographer_ws/src && git clone https://github.com/googlecartographer/cartographer_ros.git && git clone https://github.com/googlecartographer/cartographer.git

echo "install deps..."
sudo apt install -y  libgflags-dev libgoogle-glog-dev liblua5.2-dev libsuitesparse-dev ninja-build stow 

echo "install ceres-1.14.0..."
cd ~/cartographer_ws/ && git clone https://github.com/ceres-solver/ceres-solver.git && cd ceres-solver/ && git checkout 1.14.0 && mkdir build && cd build && cmake .. && make -j$proc && sudo make install


echo "install abseil.."
bash ~/cartographer_ws/src/cartographer/scripts/install_abseil.sh 

echo "make cartographer.." 
cd  ~/cartographer_ws/ && catkin_make_isolated --install --use-ninja 
source install_isolated/setup.bash

一. 配置安装Cartographer

安装基本依赖库（默认大家均已安装ROS、Cmake）

sudo apt-get update &&
sudo apt-get install -y libgflags-dev libgoogle-glog-dev liblua5.2-dev libsuitesparse-dev

创建catkin_ws拉取相关项目功能包(以下工作空间可以自己选，此处是code/ws/slam下创建)

cd ~/code/ws && mkdir -p slam/cartographer_ws/src && cd ~/code/ws/slam/cartographer_ws/src
git clone https://github.com/googlecartographer/cartographer.git && git clone https://github.com/googlecartographer/cartographer_ros.git

安装ceres-1.14.0

cd ~/code/ws/slam/ && git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver && git checkout 1.14.0
mkdir build && cd build && cmake … && make -j$proc && sudo make install

安装absl(使用cartographer下的脚本安装即可)

sudo apt-get install stow -y
cd ~/code/ws/slam/cartographer_ws/src/cartographer/scripts && ./install_abseil.sh

安装protobuf-3.6.1（版本过高会报错）
直接编译即可，遇到错再说(只要依赖库版本没有问题就不会出错）

cd ~/code/ws/slam/cartographer_ws/
catkin_make_isolated -DPYTHON_EXECUTABLE=/usr/bin/python3
ps.上面这句指定python3编译只在装了conda时候用即可，未装则可不指定

成功安装（核心：找对依赖库版本）
使用官方数据包测试

source devel_isolated/setup.bash
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag