Cartographer编译安装

官网安装教程：https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html

不过由于网络问题，可能在下载的时候会下载中断。我会上传我自己下载的到资源处，可能需要点金币。

cartographer的安装主要是prtobuf和cartographer的安装，cartographer_ros时ROS的功能包，调用cartographer算法。

安装依赖：

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

安装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，我下载的时候ceres下载不下来，我在windows下载然后拷贝的。

安装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

安装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

安装cartographer_ros

cd ~/catkin_ws/src   #请修改路径到自己的ROS catkin工作空间
git clone https://github.com/BlueWhaleRobot/cartographer_ros.git
cd ..
catkin_make

测试

下载文件：https://www.bwbot.org/s/vQ2D9Z

然后运行。根据个人平台计算能力不同，完整运行时间一般为半个小时到1个小时之间

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径

提取建立的地图，结束测试

上面步骤会生成一个pbstream文件，用cartographer_ assets_writer可以转换成栅格地图

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