一、Cartographer簡介

　　Cartographer是google開源的通用2D和3D定位與地圖同步構(gòu)建的SLAM工具，并提供ROS接口。官網(wǎng)地址：https://github.com/googlecartographer

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二、安裝方法

1、安裝全部依賴項

sudo apt-get update sudo apt-get install -y \ cmake \ g++ \ git \ google-mock \ libboost-all-dev \ libeigen3-dev \ libgflags-dev \ libgoogle-glog-dev \ liblua5.2-dev \ libprotobuf-dev \ libsuitesparse-dev \ libwebp-dev \ ninja-build \ protobuf-compiler \ python-sphinx \ ros-kinetic-tf2-eigen \ libatlas-base-dev \ libsuitesparse-dev \ liblapack-dev

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2、安裝ceres solver，下載安裝在主目錄下，由于googlesource.com需要FQ，這里使用hitcm（張明明）的github地址

# Build and install Ceres. # git clone https://ceres-solver.googlesource.com/ceres-solver # cd ceres-solver git clone https://github.com/hitcm/ceres-solver-1.11.0.git cd ceres-solver-1.11.0 mkdir build cd build cmake .. -G Ninja ninja ninja test sudo ninja install

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3、安裝cartographer，下載安裝在主目錄下，這里同樣使用的是hitcm（張明明）的github地址

# Build and install Cartographer. git clone https://github.com/hitcm/cartographer.git cd cartographer mkdir build cd build cmake .. -G Ninja ninja ninja test sudo ninja install

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4、安裝cartographer_ros，這里使用的是hitcm（張明明）的github地址，由于google官方的教程需要FQ下載一些文件，因此容易失敗，經(jīng)驗證hitcm（張明明）對原文件進行了少許修改后可以成功安裝，在他的修改中核心代碼不變，只修改了編譯文件。

# Install wstool and rosdep. sudo apt-get update sudo apt-get install -y python-wstool python-rosdep ninja-build # Create a new workspace in 'catkin_ws'. mkdir catkin_ws cd catkin_ws wstool init src # 下載到catkin_ws下面的src文件夾下面 cd src git clone https://github.com/hitcm/cartographer_ros.git # 然后到catkin_ws下面運行catkin_make安裝 （會失敗，所以根據(jù)提示改變命令） cd cd catkin_ws catkin_make source ./devel/setup.zsh

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5、改變命令進行編譯

catkin_make_isolated --install --use-ninja

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6、修改cartographer_ros--cartographer_ros--launch--demo_revo_lds.launch

<launch> <param name="/use_sim_time" value="true" /> <node name="cartographer_node" pkg="cartographer_ros" type="cartographer_node" args=" -configuration_directory $(find cartographer_ros)/configuration_files -configuration_basename revo_lds.lua" output="screen"> <remap from="scan" to="scan" /> </node> <node name="rviz" pkg="rviz" type="rviz" required="true" args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" /> </launch>

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　　修改cartographer_ros--cartographer_ros--configuration_files--revo_lds.lua

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options = {map_builder = MAP_BUILDER,sensor_bridge = {horizontal_laser_min_range = 0.3,horizontal_laser_max_range = 8,horizontal_laser_missing_echo_ray_length = 1.2,constant_odometry_translational_variance = 0.,constant_odometry_rotational_variance = 0.,},map_frame = "map",tracking_frame = "laser",published_frame = "laser",odom_frame = "odom",provide_odom_frame = true,use_odometry_data = false,use_constant_odometry_variance = true,constant_odometry_translational_variance = 1e-2,constant_odometry_rotational_variance = 1e-1,use_horizontal_laser = true,use_horizontal_multi_echo_laser = false,horizontal_laser_min_range = 0.1,horizontal_laser_max_range = 30.,horizontal_laser_missing_echo_ray_length = 5.,num_lasers_3d = 0,lookup_transform_timeout_sec = 0.2,submap_publish_period_sec = 0.3,pose_publish_period_sec = 5e-3,}MAP_BUILDER.use_trajectory_builder_2d = trueTRAJECTORY_BUILDER_2D.use_imu_data = falseTRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = trueSPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2return options

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?　　修改完以上2個文件重新編譯一下，命令行輸入

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catkin_make_isolated --install --use-ninja

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?7、運行

　　最后命令行中運行rplidar的Node和launch文件

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roslaunch rplidar_ros rplidar.launch roslaunch cartographer_ros demo_revo_lds.launch

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轉(zhuǎn)載于:https://www.cnblogs.com/BlueMountain-HaggenDazs/p/6691709.html

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