Cartographer編譯安裝

官網安裝教程：https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html

不過由於網絡問題，可能在下載的時候會下載中斷。我會上傳我自己下載的到資源處，可能需要點金幣。

cartographer的安裝主要是prtobuf和cartographer的安裝，cartographer_ros時ROS的功能包，調用cartographer算法。

安裝依賴：

sudo apt-get update
sudo apt-get install -y \
    cmake \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libprotobuf-dev \
    libsuitesparse-dev \
    libwebp-dev \
    ninja-build \
    protobuf-compiler \
    python-sphinx

安裝Ceres solver

cd  ~/catkin_ws/document
git clone https://github.com/BlueWhaleRobot/ceres-solver.git
cd ceres-solver
mkdir build
cd build
cmake ..
make -j
sudo make install

注意，我下載的時候ceres下載不下來，我在windows下載然後拷貝的。

安裝Prtobuf 3.0

cd  ~/catkin_ws/document
git clone https://github.com/google/protobuf.git
cd protobuf
git checkout v3.6.1
mkdir build
cd build
cmake  \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_BUILD_TYPE=Release \
  -Dprotobuf_BUILD_TESTS=OFF \
  ../cmake
make -j 2
sudo make install

安裝Cartographer

cd  ~/catkin_ws/document
git clone https://github.com/BlueWhaleRobot/cartographer.git
cd cartographer
mkdir build
cd build
cmake ..
make -j
sudo make install

安裝cartographer_ros

cd ~/catkin_ws/src   #請修改路徑到自己的ROS catkin工作空間
git clone https://github.com/BlueWhaleRobot/cartographer_ros.git
cd ..
catkin_make

測試

下載文件：https://www.bwbot.org/s/vQ2D9Z

然後運行。根據個人平臺計算能力不同，完整運行時間一般爲半個小時到1個小時之間

roslaunch cartographer_ros offline_backpack_2d.launch  bag_filenames:=${HOME}/Desktop/cartographer_paper_deutsches_museum.bag
##修改到自己保存的路徑

提取建立的地圖，結束測試

上面步驟會生成一個pbstream文件，用cartographer_ assets_writer可以轉換成柵格地圖

roslaunch cartographer_ros assets_writer_ros_map.launch bag_filenames:=${HOME}/Desktop/cartographer_paper_deutsches_museum.bag pose_graph_filename:=${HOME}/Desktop/cartographer_paper_deutsches_museum.bag.pbstream