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google激光雷达slam算法Cartographer的安装及bag包demo测试



  • @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。



  • @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。



  • @weijiz 是的



  • 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。



  • @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



  • @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



  • @xia软件源该用那个,我没找到。应该怎么怎么弄



  • @名流丶乐乐 https://github.com/BlueWhaleRobot/cartographer.git
    https://github.com/BlueWhaleRobot/cartographer_ros.git



  • 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



  • @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



  • 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?



  • @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
    


  • @xiaoqiang 谢谢您啦😬


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