激光SLAM建图——cartographer"/>
ROS自学实践(8):ROS进行激光SLAM建图——cartographer
本节主要记录运行谷歌cartographer方法,为后续理解这些代码,建立自己的SLAM算法打下基础。
- 图优化方法
- 2D/3D地图
- 精度高
1.安装依赖项
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
2.安装ceres-solver包
(1)安装所需依赖
sudo apt-get install libgoogle-glog-dev libeigen3-dev libatlas-base-dev libsuitesparse-dev libmetis-dev
(2)下载ceres-solver包,解压
注意可能和eigen3.3不兼容,推荐eigen3.2
mkdir build
cd build
cmake ..
sudo make install
3.安装cartographer
git clone .git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install
5.安装cartographer_ros
mkdir -p carto_ws/src
cd ~/carto_ws/src
catkin_init_workspacegit clone .gitcd ..catkin_make
5.下载测试
在下面网址下载安装包
.bag
运行测试例程
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:={$HOME}/carto/cartographer_paper_deutsches_museum.bag
如果出现下面类似情况,说明安装成功
未完待续。。。
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ROS自学实践(8):ROS进行激光SLAM建图——cartographer
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