ROS cartographer的安装

ROS cartographer的安装与一些坑

安装前先检查是否安装过了proto，执行

protoc --version

看看有没有，有的话可能会报错

根据官方文档开始安装

# 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

这两步一般都没什么问题

这一步可能会因为网络不行报错，建议翻一下

# 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

# Install proto3.
src/cartographer/scripts/install_proto3.sh

如果前面检查发现安装了protoc2，请对proto3建立一个软连接。

sudo mv /usr/bin/protoc  /usr/bin/protoc.bk 
sudo ln -s /usr/local/bin/protoc /usr/bin/protoc

下面的老问题选手了，可以不执行

# 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

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

这一步可能会提示找不到absl，报错如下

-- Found GMock: gmock_main;-lpthread
CMake Error at CMakeLists.txt:32 (find_package):
By not providing "Findabsl.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "absl", but
CMake did not find one.

Could not find a package configuration file provided by "absl" with any of
the following names:

abslConfig.cmake
absl-config.cmake

Add the installation prefix of "absl" to CMAKE_PREFIX_PATH or set
"absl_DIR" to a directory containing one of the above files. If "absl"
provides a separate development package or SDK, be sure it has been
installed.

碰到了可以按如下方式解决

sudo apt-get install stow
sudo chmod +x ~/carto_ws/src/cartographer/scripts/install_abseil.sh
cd ~/carto_ws/src/cartographer/scripts
./install_abseil.sh

然后再执行剩下的命令

最后是跑示例

# 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/with_intensities/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

可能会报错Error reading from file: wanted 4 bytes, read 0 bytes

原因是录制bag包后可能没有正确结束掉程序，回放出现错误，解决办法如下，修复包就行了

rosbag reindex xxx-xxx-xxx.bag