turtlebot入门教程-cartographer在Turltlebot的应用

cartographer使用

说明

• 谷歌开源SLAM库Cartographer 介绍
• cartographer Github
• Cartographer ROS for TurtleBots Github |　文档

cartographer介绍

这是一个实时同步定位与地图系统（SLAM）,提供ROS 系统支持2D 和 3D SLAM（simultaneous localization and mapping）库。

Cartographer ROS for TurtleBots介绍

这个库通过Cartographer ROS提供针对Turtlebots的Cartographer SLAM

来自hitcm的安装方法（不需要翻墙）

• 点击访问

来自官方的安装方法（需要翻墙）

1. 库安装

　- 在ubuntu 14.04 + indigo 测试通过，应该在ubuntu 16.04 + Kinetic 也能运行。

• 我们推荐使用wstool和rosdep.但更快安装推荐使用Ninja.
• 安装步骤：

# 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

# Merge the cartographer_turtlebot.rosinstall file and fetch code for dependencies.
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall
wstool update -t src

# Install deb dependencies.
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# Build and install.
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

2. 运行

• 安装完成即Cartographer, Cartographer ROS, and Cartographer ROS’s TurtleBot都已经安装。
• 下载例子包到~/Downloads目录，并测试

# Download the example bag.（下载例子）
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/turtlebot/cartographer_turtlebot_demo.bag

# Launch the 2D LIDAR demo.（2D雷达DEMO）
roslaunch cartographer_turtlebot demo_lidar_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

# Launch the 2D depth camera demo.（2D深度相机DEMO）
roslaunch cartographer_turtlebot demo_depth_camera_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

# Launch the 3D depth camera demo.（3D深度相机DEMO）
roslaunch cartographer_turtlebot demo_depth_camera_3d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

• launch 文件会自动启动roscore和rviz

3. 视频演示

• 演示1

• 演示2