Google Cartographer安裝教程

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-kinetic
-tf2
-eigen libatlas-base
-dev libsuitesparse-dev liblapack-dev

git clone 

cd ceres-solver-1.11.0
mkdir build
cd build
cmake ..
make -j4
sudo make install

git clone 

cd cartographer
mkdir build
cd build
cmake .. -g ninja
ninja
ninja test
sudo ninja install

#初始化工作空間

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
echo
"source catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
#安裝cartographer_ros
cd ~/catkin_ws/src
git clone 
cd ~/catkin_ws
catkin_make

sudo apt-get install -y

\    g++
\    git \
google-mock
\    libboost-all
-dev
\    libcairo2-dev
\    libeigen3-dev
\    libgflags-dev
\    libgoogle-glog
-dev
\    liblua5.2
-dev
\    libsuitesparse-dev
\    ninja-build
\    python-sphinx

# build and install ceres.

git clone 
cd ceres-solver
git checkout tags/1.13.0
mkdir build
cd build
cmake .. -g ninja -dcxx11=on
ninja
ctest_output_on_failure=1 ninja test
sudo ninja install
# build and install proto3.
git clone 
cd protobuf
git checkout tags/v3.4.1
mkdir build
cd build
cmake -g ninja \
-dcmake_position_independent_code=on \
-dcmake_build_type=release \
-dprotobuf_build_tests=off \
../cmake
ninja
sudo ninja install

# build and install cartographer.

cd cartographer
mkdir build
cd build
cmake .. -g ninja
dprotobuf_dir="/usr/local/lib/cmake/protobuf/" -dprotobuf_include_dir="/usr/local/include/google/protobuf/" -dprotobuf_library="/usr/local/lib/libprotobuf.a" 
ninja
ctest_output_on_failure=1 ninja test
sudo ninja install

注意:如果報protobuf的錯誤

1. protoco –versian檢視版本是否正確

2. 編譯加dprotobuf_dir、dprotobuf_include_dir、dprotobuf_librar指定路徑

sudo apt-get install -y python-wstool python-rosdep ninja-build

mkdir -p /code/ros/catkin_ws_cartographer/src
cd /code/ros/catkin_ws_cartographer/src
git clone --recursive 
cd /code/ros/catkin_ws_cartographer
catkin_make_isolated --install --use-ninja
-dcartographer_dir
="/usr/local/share/cartographer/"
source /code/ros/catkin_ws_cartographer/devel_isolated/setup.bash
echo "source /code/ros/catkin_ws_cartographer/devel_isolated/setup.bash"
>> ~/
.bashrc

3d資料

執行launch檔案即可

實驗結論：使用自己的單線雷射雷達與使用資料集效果無差，表現都很好，基本上沒有什麼誤差
//修改cartographer發布occupancygrid的程式位於occupancy_grid_node_main.cc中。關注createoccupancygridmsg這一函式的呼叫。具體修改msg_conversion.cc

std::unique_ptrcreateoccupancygridmsg(
...for (int y = height - 1; y >= 0; --y) 
}  return occupancy_grid;
				
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