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
   

   

   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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