cartographer1.0配置（6）

https://download.csdn.net/download/v7xyy/10896486

https://github.com/xiangkejun/mapping

使用的是cartographer1.0 

目前只用了一個二維激光進行柵格地圖創建。

建圖程序包

catographer安裝步驟：

1. 放在 src/ 下

https://github.com/googlecartographer/cartographer_ros/tree/1.0.0

https://github.com/googlecartographer/cartographer/tree/1.0.0

https://github.com/ceres-solver/ceres-solver/tree/1.13.0

2.protobuf 放在 cartographer1.0_ws/ 下

https://github.com/google/protobuf/tree/v3.5.0

3.修改/src/cartographer-1.0.0/scripts/install_proto3.sh

#!/bin/sh

# Copyright 2016 The Cartographer Authors
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#      http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

set -o errexit
set -o verbose

VERSION="v3.5.0"

# Build and install proto3.
#git clone https://github.com/google/protobuf.git
cd protobuf-3.5.0
#git checkout tags/${VERSION}
mkdir build
cd build
cmake -G Ninja \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_BUILD_TYPE=Release \
  -Dprotobuf_BUILD_TESTS=OFF \
  ../cmake
ninja
sudo ninja install

4.編譯

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

src/cartographer-1.0.0/scripts/install_proto3.sh

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

catkin_make_isolated --install --use-ninja -j3