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NX入门教程软件篇-安装Cartographer算法包

说明

  • 本教程介绍如何在Jetson Xavier NX上安装Cartographer算法包

  • 测试环境:Jetson Xavier NX+ Jetpack4.4 + Ubuntu 1804 + ROS Melodic

操作步骤

  • 安装依赖
$ sudo apt-get update
$ sudo apt-get install -y 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-melodic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev python-wstool python-rosdep ninja-build
  • 创建工作空间且下载源码
$ mkdir ~/cartographer_ws
$ cd ~/cartographer_ws
$ wstool init src
$ wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall

$ vim src/.rosinstall
## 更改ceres-solver中地址改为下面的地址:
## >>uri: https://github.com/ceres-solver/ceres-solver.git

$ wstool update -t src
  • 安装deb依赖
$ rosdep update
  • 安装proto3
$ src/cartographer/scripts/install_proto3.sh
$ rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
  • 编译安装
$ catkin_make_isolated --install --use-ninja -j1
$ source install_isolated/setup.bash
  • 添加bash路径到~/.bashrc
$ echo "source ~/cartographer_ws/install_isolated/setup.bash" >> ~/.bashrc

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