如何使用Google 的Cartographer SLAM算法包

发布网友发布时间：2022-05-01 15:18

共1个回答

热心网友时间：2023-04-29 01:53

0.安装所依赖项
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-indigo-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev
1.首先安装ceres solver选择版本1.11,路径随意
Git clone
cd ceres-solver-1.11.0/build
cmake ..
make –j
sudo make install

2.安装 cartographer,路径随意
git clone
cd cartographer/build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install

3.安装cartographer_ros
谷歌官提供安装比较繁琐我原文件进行少许修改核代码变修改编译文件
载catkin_ws面src文件夹面
git clone
catkin_ws面运行catkin_make即

4.数据载测试
2d数据概500M用迅雷载

3d数据8G左右同用迅雷载

运行launch文件即
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/cartographer_3d_deutsches_museum.bag
图左侧2d,右侧3d