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



  • @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😬



  • @xiaoqianggoogle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。



  • @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



  • @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.


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