安装cartographer安装包

安装cartographer安装包

安装cartographer的安装包的过程如下所示：

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

接下来继续执行关键的命令

wstool init src

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

wstool update -t src

--------------------- 注意，这里可能会出现一个问题：

就是cere-solver的包无法下载下来，除非翻墙，且网速好，因为可以更改源码包的地址。

把cere的包改成github上的下载源后的命令行如下

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

将cere的地址改一下，接下来

rosdep update

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

成功后是这样的

接下来载运行

# Build and install.

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

最后即可安装成功

如果出现一下问题

就是在cd cartogapher, mkdir build, cd build, cmake … , make后遇到Unrecognized syntax identifier “proto3”. This parser only recognizes “proto2”。
则需要安装protobuf
安装方法一：

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.

安装方法二：
下载c++版本的protobuf，从以下网址下载
https://github.com/protocolbuffers/protobuf/releases/tag/v3.7.0
然后编译安装（其实前面的是全能版本，所有语言都有的）

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

最后

可以用cartoagrapher自带的数据集测试一下

# 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