TB3-PC端配置系列教程-5.PC端安装Cartographer(Kinetic)

在PC上下载和构建软件包。

Google开发的Cartographer包支持0.2.0版本的 ROS1 Kinetic。因此,如果您需要在Kinetic上使用Cartogrpher,您应该按如下方式下载并构建源代码,而不是使用二进制包进行安装。

sudo apt-get install ninja-build libceres-dev libprotobuf-dev protobuf-compiler libprotoc-dev

cd ~/catkin_ws/src

git clone https://github.com/googlecartographer/cartographer.git

git clone https://github.com/googlecartographer/cartographer_ros.git

cd ~/catkin_ws

src/cartographer/scripts/install_proto3.sh

rm -rf protobuf/

rosdep install --from-paths src --ignore-src -r -y --os=ubuntu:xenial

catkin_make_isolated --install --use-ninja


测试(数据包.bag地址下载)

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/cartographer_paper_deutsches_museum.bag

测试cato建图.png

启动Cartographer SLAM节点。

source ~/catkin_ws/install_isolated/setup.bash

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer