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

FAQ

• Ubuntu1804上源码安装cartographer问题整理