安裝cartographer安裝包

安裝cartographer安裝包

安裝cartographer的安裝包的過程如下所示：

sudo apt-get update
sudo apt-getinstall -y python-wstool python-rosdep ninja-build
mkdir catkin_ws

接下來繼續執行關鍵的命令

wstool init src

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

wstool update -t src

--------------------- 注意，這裏可能會出現一個問題：

就是cere-solver的包無法下載下來，除非翻牆，且網速好，因爲可以更改源碼包的地址。

把cere的包改成github上的下載源後的命令行如下

sudo apt-get update

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

mkdir catkin_ws

wstool init src

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

sudo gedit src/.rosinstall

將cere的地址改一下，接下來

rosdep update

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

成功後是這樣的

接下來載運行

# Build and install.

catkin_make_isolated --install --use-ninja source install_isolated/setup.bash

最後即可安裝成功

如果出現一下問題

就是在cd cartogapher, mkdir build, cd build, cmake … , make後遇到Unrecognized syntax identifier “proto3”. This parser only recognizes “proto2”。
則需要安裝protobuf
安裝方法一：

git clone https://github.com/protocolbuffers/protobuf.git
$ cd protobuf
$ git submodule update --init --recursive
$ ./autogen.sh

$ ./configure
$ make
$ make check
$ sudo make install
$ sudo ldconfig # refresh shared library cache.

安裝方法二：
下載c++版本的protobuf，從以下網址下載
https://github.com/protocolbuffers/protobuf/releases/tag/v3.7.0
然後編譯安裝（其實前面的是全能版本，所有語言都有的）

$ ./configure
$ make
$ make check
$ sudo make install
$ sudo ldconfig # refresh shared library cache.

最後

可以用cartoagrapher自帶的數據集測試一下

# 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