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cartographer ros使用指南-安装

cartographer ros使用指南-安装

说明:

  • 介绍cartographer_ros源码安装方法

Cartographer

  • Cartographer是一个跨多个平台和传感器配置提供2D和3D实时同步定位和建图(SLAM)的系统。

系统要求:

  • 尽管Cartographer可以在其他系统上运行
  • 但已确认它可以在满足以下要求的系统上运行:
 64-bit, modern CPU (e.g. 3rd generation i7)
 16 GB RAM
 Ubuntu 14.04 (Trusty) and 16.04 (Xenial)
 gcc version 4.8.4 and 5.4.0
  • 32位版本具有libeigen对齐问题,导致崩溃和/或内存损坏。
  • ROS版本支持:
Indigo
Kinetic

安装:

  • 我们建议使用wstool和rosdep。
  • 为了加快构建速度,我们还建议使用Ninja
# 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_ros.rosinstall file and fetch code for dependencies.
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src

# Install proto3.
src/cartographer/scripts/install_proto3.sh

# Install deb dependencies.
# The command 'sudo rosdep init' will print an error if you have already
# executed it since installing ROS. This error can be ignored.
sudo rosdep init
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

示例:

  • 现在安装了Cartographer和Cartographer的ROS集成,
  • 下载示例包(例如德意志博物馆的2D和3D背包系列)到一个已知的位置
  • 示例位于~/Downloads,并使用roslaunch来调出演示:
# Download the 2D backpack example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

# Launch the 2D backpack demo.
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

# Download the 3D backpack example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag

# Launch the 3D backpack demo.
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag
  • 启动文件将自动显示roscore和rviz。
  • 有关其他演示(包括本地化和各种机器人),请参阅演示。

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标签: cartographer ros使用指南