<![CDATA[google激光雷达slam算法Cartographer的安装及bag包demo测试]]>Cartographer 是google于2016年９月开源的一套激光雷达slam算法,精度和效果在业界处于领先水准。点击查看最终效果。

操作步骤：

１．安装依赖包

# Install the required libraries that are available as debs.
sudo apt-get update
sudo apt-get install -y \
    cmake \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libprotobuf-dev \
    libsuitesparse-dev \
    libwebp-dev \
    ninja-build \
    protobuf-compiler \
    sphinx-common  

python-sphinx   可以换成 sphinx-common

2．安装ceres solver

cd  ~/Documents
git clone  https://ghproxy.com/https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
git checkout 1.14.x
mkdir build
cd build
cmake ..  #git hook时间比较长，耐心等待
make -j
sudo make install

3．安装prtobuf 3.0

cd  ~/Documents
git clone  https://ghproxy.com/https://github.com/google/protobuf.git
cd protobuf
git checkout v3.6.1
mkdir build
cd build
cmake  \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_BUILD_TYPE=Release \
  -Dprotobuf_BUILD_TESTS=OFF \
  ../cmake
make -j 2
sudo make install

4．安装cartographer

cd  ~/Documents
git clone https://gitee.com/BlueWhaleRobot/cartographer.git 
cd cartographer
mkdir build
cd build
cmake ..
make -j
sudo make install

5．安装cartographer_ros

cd ~/Documents/ros/src   #请修改路径到自己的ROS catkin工作空间
git clone https://git.bwbot.org/publish/cartographer_ros
cd ..
catkin_make

6．安装已完成，开始下载测试用的bag文件

点击下述链接下载文件，保存到桌面
下载链接

7．启动demo演示，正常可以看到rviz启动并开始建图

根据个人平台计算能力不同，本demo完整运行时间一般为半个小时到1个小时之间

roslaunch cartographer_ros offline_backpack_2d.launch  bag_filenames:=${HOME}/Desktop/cartographer_paper_deutsches_museum.bag

8．提取建立的地图，结束测试

上面步骤7会生成一个pbstream文件，用cartographer_ assets_writer可以转换成栅格地图

roslaunch cartographer_ros assets_writer_ros_map.launch bag_filenames:=${HOME}/Desktop/cartographer_paper_deutsches_museum.bag pose_graph_filename:=${HOME}/Desktop/cartographer_paper_deutsches_museum.bag.pbstream

0_1531754676780_map_yaml.png
现在在home目录下的Desktop文件夹内会生成建立的地图文件，这两个文件（pgm 和 yaml）在ros中的map_server中可以加载使用

]]>http://community.bwbot.org/topic/136/google激光雷达slam算法cartographer的安装及bag包demo测试RSS for NodeSat, 08 Aug 2026 01:35:48 GMTFri, 09 Dec 2016 05:44:52 GMT60<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Wed, 18 Oct 2023 10:06:23 GMT]]>请问ubuntu20.04可以按照这个教程安装吗？有哪些地方需要更新改动？

]]>http://community.bwbot.org/post/17307http://community.bwbot.org/post/17307Wed, 18 Oct 2023 10:06:23 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Mon, 14 Aug 2023 12:55:21 GMT]]>@蓝胖子 没找到对应的launch文件，检查ros包launch文件夹内是否有这些launch文件，同时检查是否source了ros工作空间

]]>http://community.bwbot.org/post/17249http://community.bwbot.org/post/17249Mon, 14 Aug 2023 12:55:21 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Mon, 14 Aug 2023 12:37:24 GMT]]>roslaunch cartographer_ros cartographer_ros/launch/offline_backpack_2d.launch bag_filenames:=${HOME}/catkin_ws/src/cartographer_paper_deutsches_museum.bag
RLException: [cartographer_ros/launch/offline_backpack_2d.launch] is neither a launch file in package [cartographer_ros] nor is [cartographer_ros] a launch file name
The traceback for the exception was written to the log file
这是什么问题啊

]]>http://community.bwbot.org/post/17248http://community.bwbot.org/post/17248Mon, 14 Aug 2023 12:37:24 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Wed, 29 Sep 2021 10:47:06 GMT]]>@jacob-lee 这个不是问题，是正常结束输出。

]]>http://community.bwbot.org/post/16727http://community.bwbot.org/post/16727Wed, 29 Sep 2021 10:47:06 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Tue, 17 Aug 2021 13:08:35 GMT]]>@星之卡比 我也遇到了相同的问题：

I0817 18:24:19.258977 30025 assets_writer.cc:254] Processed 93.2024 of 360.611 bag time seconds...
I0817 18:24:29.984477 30025 assets_writer.cc:254] Processed 124.264 of 360.611 bag time seconds...
I0817 18:24:41.377332 30025 assets_writer.cc:254] Processed 155.434 of 360.611 bag time seconds...
I0817 18:25:01.028228 30025 assets_writer.cc:254] Processed 186.442 of 360.611 bag time seconds...
I0817 18:25:19.001085 30025 assets_writer.cc:254] Processed 217.277 of 360.611 bag time seconds...
I0817 18:25:32.988505 30025 assets_writer.cc:254] Processed 248.321 of 360.611 bag time seconds...
I0817 18:25:41.931903 30025 assets_writer.cc:254] Processed 279.383 of 360.611 bag time seconds...
I0817 18:25:52.892603 30025 assets_writer.cc:254] Processed 310.487 of 360.611 bag time seconds...
I0817 18:26:06.210233 30025 assets_writer.cc:254] Processed 341.633 of 360.611 bag time seconds...
================================================================================REQUIRED process [cartographer_assets_writer-2] has died!
process has finished cleanly
log file: /home/ds16v2/.ros/log/33c91c28-ff45-11eb-aff9-a0c589ac1e85/cartographer_assets_writer-2*.log
Initiating shutdown!
================================================================================
[cartographer_assets_writer-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

希望有大佬能够指导一下。

]]>http://community.bwbot.org/post/16711http://community.bwbot.org/post/16711Tue, 17 Aug 2021 13:08:35 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Mon, 10 Aug 2020 01:50:49 GMT]]>@kc 依赖的prtobuf 3.0 没有安装好

]]>http://community.bwbot.org/post/3895http://community.bwbot.org/post/3895Mon, 10 Aug 2020 01:50:49 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Fri, 07 Aug 2020 08:19:11 GMT]]>编译cartographer的时候报这个

MakeFiles/cartographer_compute_relations_metrics.dir/cartographer/ground_truth/compute_relations_metrics_main.cc.o：在函数‘cartographer::ground_truth::(anonymous namespace)::Run(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool, bool)’中：
compute_relations_metrics_main.cc:(.text+0xb76)：对‘google::protobuf::Message::ParseFromIstream(std::istream*)’未定义的引用
libcartographer.a(relations.pb.cc.o)：在函数‘cartographer::ground_truth::proto::Relation::SerializeWithCachedSizes(google::protobuf::io::CodedOutputStream*) const’中：
relations.pb.cc:(.text+0xd2)：对‘google::protobuf::internal::proto3_preserve_unknown’未定义的引用
libcartographer.a(relations.pb.cc.o)：在函数‘cartographer::ground_truth::proto::GroundTruth::SerializeWithCachedSizes(google::protobuf::io::CodedOutputStream*) const’中：
relations.pb.cc:(.text+0x14b)：对‘google::protobuf::internal::proto3_preserve_unknown’未定义的引用
libcartographer.a(relations.pb.cc.o)：在函数‘protobuf_cartographer_2fground_5ftruth_2fproto_2frelations_2eproto::AddDescriptorsImpl()’中：
relations.pb.cc:(.text+0x1e9)：对‘google::protobuf::MessageFactory::InternalRegisterGeneratedFile(char const*, void ()(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&))’未定义的引用
libcartographer.a(relations.pb.cc.o)：在函数‘protobuf_cartographer_2fground_5ftruth_2fproto_2frelations_2eproto::protobuf_AssignDescriptors()’中：
relations.pb.cc:(.text+0x47f)：对‘google::protobuf::internal::AssignDescriptors(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, google::protobuf::internal::MigrationSchema const, google::protobuf::Message const* const*, unsigned int const*, google::protobuf::Metadata*, google::protobuf::EnumDescriptor const**, google::protobuf::ServiceDescriptor const**)’未定义的引用
libcartographer.a(relations.pb.cc.o)：在函数‘cartographer::ground_truth::proto::Relation::InternalSerializeWithCachedSizesToArray(bool, unsigned char*) const’中：
relations.pb.cc:(.text+0x19a9)：对‘google::protobuf::internal::proto3_preserve_unknown’未定义的引用
libcartographer.a(relations.pb.cc.o)：在函数‘cartographer::ground_truth::proto::GroundTruth::InternalSerializeWithCachedSizesToArray(bool, unsigned char*) const’中：
relations.pb.cc:(.text+0x1a42)：对‘google::protobuf::internal::proto3_preserve_unknown’未定义的引用
libcartographer.a(relations.pb.cc.o)：在函数‘cartographer::ground_truth::proto::Relation::ByteSizeLong() const’中：
relations.pb.cc:(.text+0x1b23)：对‘google::protobuf::internal::proto3_preserve_unknown_’未定义的引用
libcartographer.a(relations.pb.cc.o)：在函数‘cartographer::ground_truth::proto::GroundTruth::ByteSizeLong() const’中：
relations.pb.cc:(.text+0x1bd3)：对‘google::protobuf::internal::proto3_preserve_unknown_’未定义的引用
libcartographer.a(relations.pb.cc.o)：在函数‘cartographer::ground_truth::proto::Relation::SerializeWithCachedSizes(google::protobuf::io::CodedOutputStream*) const’中：
relations.pb.cc:(.text+0xe9)：对‘google::protobuf::internal::WireFormat::SerializeUnknownFields(google::protobuf::UnknownFieldSet const&, google::protobuf::io::CodedOutputStream*)’未定义的引用
libcartographer.a(relations.pb.cc.o)：在函数‘cartographer::ground_truth::proto::GroundTruth::SerializeWithCachedSizes(google::protobuf::io::CodedOutputStream*) const’中：
relations.pb.cc:(.text+0x166)：对‘google::protobuf::internal::WireFormat::SerializeUnknownFields(google::protobuf::UnknownFieldSet const&, google::protobuf::io::CodedOutputStream*)’未定义的引用
libcartographer.a(relations.pb.cc.o)：在函数‘protobuf_cartographer_2fground_5ftruth_2fproto_2frelations_2eproto::protobuf_RegisterTypes(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)’中：
relations.pb.cc:(.text+0x2ba)：对‘google::protobuf::internal::RegisterAllTypes(google::protobuf::Metadata const*, int)’未定义的引用
libcartographer.a(relations.pb.cc.o)：在函数‘cartographer::ground_truth::proto::Relation::InternalSerializeWithCachedSizesToArray(bool, unsigned char*) const’中：
relations.pb.cc:(.text+0x19bb)：对‘google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(google::protobuf::UnknownFieldSet const&, unsigned char*)’未定义的引用
libcartographer.a(relations.pb.cc.o)：在函数‘cartographer::ground_truth::proto::GroundTruth::InternalSerializeWithCachedSizesToArray(bool, unsigned char*) const’中：
relations.pb.cc:(.text+0x1a5d)：对‘google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(google::protobuf::UnknownFieldSet const&, unsigned char*)’未定义的引用

]]>http://community.bwbot.org/post/3894http://community.bwbot.org/post/3894Fri, 07 Aug 2020 08:19:11 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Mon, 06 Jul 2020 05:38:19 GMT]]>大佬求助，我在执行完第八步以后，出现了如下报错，但是目录下却生成了pgm和yaml文件，不知道有没有问题？

================================================================================REQUIRED process [cartographer_assets_writer-1] has died!
process has finished cleanly
log file: /home/starskabi/.ros/log/4d9f46d4-bf3d-11ea-8f3f-d8cb8a5b2081/cartographer_assets_writer-1*.log
Initiating shutdown!

]]>http://community.bwbot.org/post/3862http://community.bwbot.org/post/3862Mon, 06 Jul 2020 05:38:19 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Sat, 09 May 2020 02:22:05 GMT]]>@frank 确实是并行的job 过多导致编译时内存占用过大。👍 👍 👍

如果make -j不指定参数，默认是不限制job数，即能并行多少就并行多少。
-j [jobs], --jobs[=jobs]
Specifies the number of jobs (commands) to run simultaneously. If there is more than one -j option, the last one is effective. If the -j option is given without an argument, make will not limit the number of jobs that can run simultaneously.

]]>http://community.bwbot.org/post/3792http://community.bwbot.org/post/3792Sat, 09 May 2020 02:22:05 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Fri, 08 May 2020 13:18:54 GMT]]>@山中客 虚拟内存指的是RAM运存，你的20g是硬盘容量，两者不是一个东西。 编译时，在指令后面加 -j 1 参数减小运存的消耗量

]]>http://community.bwbot.org/post/3789http://community.bwbot.org/post/3789Fri, 08 May 2020 13:18:54 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Fri, 08 May 2020 11:25:10 GMT]]>@xiaoqiang 在 google激光雷达slam算法Cartographer的安装及bag包demo测试 中说：

4．安装cartographer

这一步的编译总是报虚拟内存不够的错，已经开到20G了，现在编译卡死中。
有没有别的方法能绕过去？

如果完全按照官方的方式安装cartographer 能兼容小强的demo 吗？
谢谢。

]]>http://community.bwbot.org/post/3785http://community.bwbot.org/post/3785Fri, 08 May 2020 11:25:10 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Sat, 09 Nov 2019 07:49:28 GMT]]>@xiaoqiang 谢谢您啦😬

]]>http://community.bwbot.org/post/1535http://community.bwbot.org/post/1535Sat, 09 Nov 2019 07:49:28 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Fri, 08 Nov 2019 02:54:37 GMT]]>@zhouyi 用rosrun方式启动

rosrun cartographer_ros cartographer_rosbag_validate -bag_filename /home/cubot/ROS/catkin_ws_cartographer/bag/b3-2016-04-05-14-14-00.bag
]]>http://community.bwbot.org/post/1534http://community.bwbot.org/post/1534Fri, 08 Nov 2019 02:54:37 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Fri, 08 Nov 2019 02:12:13 GMT]]>请问有人使用过cartographer_rosbag_validate这个工具吗？cartographer的环境我是按照这篇文章配的。按理说，应该source 自己的工作空间就可以使用这个工具才，但是，我执行“cartographer_rosbag_validate -bag_filename /home/cubot/ROS/catkin_ws_cartographer/bag/b3-2016-04-05-14-14-00.bag”这个命令的时候报错：“cartographer_rosbag_validate: command not found”。有大佬可以帮忙看一下吗？

]]>http://community.bwbot.org/post/1533http://community.bwbot.org/post/1533Fri, 08 Nov 2019 02:12:13 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Tue, 10 Sep 2019 00:20:01 GMT]]>@Griffin-MX 错误提示工作空间存在非catkin 包文件夹，找到这个包，然后删除。cartographer和cartographer_ros都需要安装蓝鲸github版本

]]>http://community.bwbot.org/post/1499http://community.bwbot.org/post/1499Tue, 10 Sep 2019 00:20:01 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Sat, 07 Sep 2019 11:25:47 GMT]]>你好，我在安装cartographer_ros，使用catkin_make的时候报错
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkin_workspace.cmake:95 (message):
This workspace contains non-catkin packages in it, and catkin cannot build
a non-homogeneous workspace without isolation. Try the
‘catkin_make_isolated’ command instead.
Call Stack (most recent call first):
CMakeLists.txt:67 (catkin_workspace)
然后使用catkin_make_isolated编译之后，使用roslaunch cartographer_ros demo_xiaoqiang_3d.launch会显示
RLException: [demo_xiaoqiang_3d.launch] is neither a launch file in package [cartographer_ros] nor is [cartographer_ros] a launch file name
The traceback for the exception was written to the log file
不知道该如何解决，希望大佬能给予解答

]]>http://community.bwbot.org/post/1498http://community.bwbot.org/post/1498Sat, 07 Sep 2019 11:25:47 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Thu, 25 Jul 2019 02:48:11 GMT]]>@名流丶乐乐 https://github.com/BlueWhaleRobot/cartographer.git
https://github.com/BlueWhaleRobot/cartographer_ros.git

]]>http://community.bwbot.org/post/1409http://community.bwbot.org/post/1409Thu, 25 Jul 2019 02:48:11 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Tue, 23 Jul 2019 02:55:51 GMT]]>@xia软件源该用那个，我没找到。应该怎么怎么弄

]]>http://community.bwbot.org/post/1403http://community.bwbot.org/post/1403Tue, 23 Jul 2019 02:55:51 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Mon, 22 Jul 2019 05:11:14 GMT]]>@名流丶乐乐 贴完整错误内容，软件源要和教程一样用的是蓝鲸github仓库的

]]>http://community.bwbot.org/post/1398http://community.bwbot.org/post/1398Mon, 22 Jul 2019 05:11:14 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Sun, 21 Jul 2019 19:55:24 GMT]]>@名流丶乐乐 [cartographer_offline_node-4] process has died [pid 14131, exit code -6, cmd /home/ros/guge/devel/lib/cartographer_ros/cartographer_offline_node -configuration_directory /home/ros/guge/src/cartographer_ros/cartographer_ros/configuration_files -configuration_basenames backpack_2d.lua -urdf_filenames /home/ros/guge/src/cartographer_ros/cartographer_ros/urdf/backpack_2d.urdf -bag_filenames /home/ros/Desktop/cartographer_paper_deutsches_museum.bag echoes:=horizontal_laser_2d __name:=cartographer_offline_node __log:=/home/ros/.ros/log/13d46552-abf1-11e9-8aa7-c4d987c6450d/cartographer_offline_node-4.log].
log file: /home/ros/.ros/log/13d46552-abf1-11e9-8aa7-c4d987c6450d/cartographer_offline_node-4*.log
这是运行2ddome演示的错误

]]>http://community.bwbot.org/post/1394http://community.bwbot.org/post/1394Sun, 21 Jul 2019 19:55:24 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Sat, 20 Jul 2019 06:38:37 GMT]]>大佬，我编译通过了
但是不管是运行第七步还是从网上抄的launch文件和lua脚本，都报错
提示
[cartographer_node-1] process has died [pid 16193, exit code -6, cmd /home/sz/google_ws/devel/lib/cartographer_ros/cartographer_node -configuration_directory /home/sz/google_ws/src/cartographer_ros/cartographer_ros/configuration_files -configuration_basename rplidar.lua scan:=scan __name:=cartographer_node __log:=/home/sz/.ros/log/c8f855ba-aab6-11e9-97f1-00e25c683b11/cartographer_node-1.log].
log file: /home/sz/.ros/log/c8f855ba-aab6-11e9-97f1-00e25c683b11/cartographer_node-1*.log
是不是我cartographer_ros编译的信息里有个变量没有编译成功。但是编译是完成了，是不是那个变量出了问题。

]]>http://community.bwbot.org/post/1390http://community.bwbot.org/post/1390Sat, 20 Jul 2019 06:38:37 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Wed, 08 May 2019 15:07:50 GMT]]>@weijiz 是的

]]>http://community.bwbot.org/post/1238http://community.bwbot.org/post/1238Wed, 08 May 2019 15:07:50 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Wed, 08 May 2019 08:03:17 GMT]]>@zhaoyu24 可以把source语言写到~/.bashrc里面，这样就不用每次都写source指令了。

]]>http://community.bwbot.org/post/1237http://community.bwbot.org/post/1237Wed, 08 May 2019 08:03:17 GMT<![CDATA[Reply to google激光雷达slam算法Cartographer的安装及bag包demo测试 on Wed, 08 May 2019 03:51:49 GMT]]>@zhaoyu24 打开终端开启建图的launch之后，不管是新开终端Ctrl+Alt+t还是新建标签Ctrl+Shift+t，调用服务之前都要source。

]]>http://community.bwbot.org/post/1236http://community.bwbot.org/post/1236Wed, 08 May 2019 03:51:49 GMT