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    Cartographer install and demo

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    • weijiz
      weijiz last edited by weijiz

      Xiaoqiang Homepage

      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.

      Xiaoqiang Homepage
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