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Cartographer install and demo


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    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 Cartographer in the ROS Kinetic. Click to view the result video.

    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 prtobuf 3.0

      cd  ~/Documents
      git clone 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. Install cartographer

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

      cd ~/Documents/ros/src   #请修改路径到自己的ROS catkin工作空间
      git clone https://github.com/BlueWhaleRobot/cartographer_ros.git
      cd ..
      catkin_make
      
    6. The installation is complete, start downloading the bag file for testing

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

    7. 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 offline_backpack_2d.launch  bag_filenames:=${HOME}/Desktop/cartographer_paper_deutsches_museum.bag
      
    8. Save the map and end the test

      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_1537779460656_5c69cece-2c57-482f-887e-540032f84832-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.

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