Cartographer安裝 踩坑奉獻

Cartographer安裝斷斷續續弄了三天，理論上應該挺容易的，但還是踩了好多坑。當然，hitcm大神的方法可能100%成功，但是我沒有試，因爲大神把cartographer重新封裝，沒有辦法根據自己項目的需求修改裏邊的內容。所以只能按照官網的方法來安裝，還參照了這篇博文的內容——
問題解決方案2-------------ros的 Cartographer，ninja，ceres-solver，cartographer_ros安裝及其問題，附上最好的安裝方法。

1、安裝

sudo apt-get update
sudo apt-get install python-wstool python-rosdep ninja-build
# 創建工作空間
mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall

因爲國內無法上谷歌，所以需要修改鏈接地址，修改catkin_ws/src/.rosinstall

- git:
    local-name: cartographer
    uri: https://github.com/googlecartographer/cartographer.git
- git:
    local-name: cartographer_ros
    uri: https://github.com/googlecartographer/cartographer_ros.git
- git:
    local-name: ceres-solver
    uri: https://github.com/ceres-solver/ceres-solver.git
    version: 1.12.0rc4
- git:
    local-name: cartographer_turtlebot
    uri: https://github.com/googlecartographer/cartographer_turtlebot.git   
- git:
    local-name: cartographer_fetch
    uri: https://github.com/googlecartographer/cartographer_fetch.git  

繼續指令：

wstool update -t src

這時會下載上面5個git的包。再修改catkin_ws/src/cartographter_ros/cartographter_ros.rosinstall 文件爲：

- git: {local-name: cartographer, uri: 'https://github.com/googlecartographer/cartographer.git'}
- git: {local-name: cartographer_ros, uri: 'https://github.com/googlecartographer/cartographer_ros.git'}
- git: {local-name: ceres-solver, uri: 'https://ceres-solver.googlesource.com/ceres-solver.git', version: '1.12.0rc4'}
- git: {local-name: cartographer_turtlebot, uri: 'https://github.com/googlecartographer/cartographer_turtlebot.git'}
- git: {local-name: cartographer_fetch, uri: 'https://github.com/googlecartographer/cartographer_fetch.git'}

繼續指令

src/cartographer/scripts/install_proto3.sh#安裝符合要求的protobuf
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO}
# Build and install.
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

2、可能會遇到的問題

2.1、網絡

安裝cartographer對網絡要求較高，如果出現網絡問題，可切換幾個手機熱點嘗試。有可能會出現網絡問題的地方：

1、wstool update -t src

這裏需要下載github的內容，如果下載很慢或者下載不成果，需要更換網絡再試；

2、src/cartographer/scripts/install_proto3.sh

原因同1；

3、sudo rosdep init

ros的這個網站經常連不上，這裏是需要安裝rosdep。
如果網絡正常，已有rosdep，再輸入這個指令會提示:

Please delete if you wish to re-initialize

網絡出問題會提示：

Website may be down.

更換網絡，如果還不行，可以嘗試參照這個文章——
rosdep init報錯之網絡不通解決辦法

sudo gedit /etc/hosts

添加下面內容到hosts文件

199.232.28.133 raw.githubusercontent. com

4、rosdep update

網絡正常時，最後會提示：

update cache in /home/xxx/.ros/rosdep/source.cache

5、catkin_make_isolated --install --use-ninja

同1.

2.2、依賴庫

cartographer安裝對glag、glog、ceres和protobuf的版本有要求，進入/usr/local/include/手動刪除這些庫，再重新安裝。glog安裝可以參考我另一篇文章——Ubuntu glog 0.3.5安裝.
proto不用另外安裝，上面安裝cartographer時有一條指令就是安裝proto：

src/cartographer/scripts/install_proto3.sh

3、驗證

2D數據：
https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=/${bag的絕對路徑}/cartographer_paper_deutsches_museum.bag

3D數據：
https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag

roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=/${bag的絕對路徑}/b3-2016-04-05-14-14-00.bag