ROS交流群
ROS Group
产品服务
Product Service
开源代码库
Github
官网
Official website
技术交流
Technological exchanges
激光雷达
LIDAR
ROS教程
ROS Tourials
深度学习
Deep Learning
机器视觉
Computer Vision

Google lidar slam algorithm Cartographer installation and bag package demo test



  • Cartographer is a set of laser radar slam algorithm that was open sourced by Google in September 2016. Its precision and effect are among the best in the industry. This article will demonstrate how to use the ROS JADE version. First go to the tutorial demo video click to watch

    Steps:

    1. Installation dependency package
    # 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 \
        python-sphinx
    
    

    2.Install ceres solver

    cd  ~/Documents
    git clone https://github.com/BlueWhaleRobot/ceres-solver.git
    cd ceres-solver
    mkdir build
    cd build
    cmake ..
    make -j
    sudo make install
    
    

    3.Install cartographer

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

    4.Install cartographer_ros

    cd ~/Documents/ros/src   # Please modify the path to your own ROS catkin workspace
    git clone https://github.com/BlueWhaleRobot/cartographer_ros.git
    cd ..
    catkin_make
    

    5.The installation is complete, start downloading the bag file for testing

    Click the link below to download the file and save it to your desktop.

    6.Start the demo, you can see rviz start and start to build

    According to the computing power of the personal platform, the complete running time of this demo is generally between half an hour and one hour.

    roslaunch cartographer_ros demo_backpack_2d.launch  bag_filename:=${HOME}/Desktop/cartographer_paper_deutsches_museum.bag
    

    7.Save the map and end the test

    rosservice call /finish_trajectory "stem: 'test'"
    

    0_1537593736027_bd238d15-03bd-47b1-a12a-0697d46bb62c-image.png

    The created map file will now be generated in the .ros folder in the home directory. These two files (pgm and yaml) can be loaded in the map_server in ros.