Cartographer Installation--ubuntu14.04--indigo

0. Install all dependencies

sudo apt-get install-y google-mock libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev Libpro Tobuf-dev libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler Python-sphinx Ros-indigo-tf2-eigen Libatlas-base-dev Libsuitesparse-dev Liblapack-dev

1. First install Ceres Solver, select the version is 1.11, the path is arbitrary

1. Git clone https://github.com/hitcm/ceres-solver-1.11.0.git

2. CD Ceres-solver-1.11.0/build

3. CMake.

4. Make

5. Sudo make install

2. Then install cartographer, the path is arbitrary

1. Git clone https://github.com/hitcm/cartographer.git

2. CD Cartographer/build

3. CMake.

4. Make

5. Sudo make install

3. Install the Cartographer_ros.

mkdir ~/CATKIN_WS/SRC

CD ~/CATKIN_WS/SRC

git clone https://github.com/hitcm/cartographer_ros.git

Then run the Catkin_make under Catkin_ws:

Cd..

Catkin_make

= =, if the compilation process error internal compiler error:killed, see this link 69665996)

4. Data download test

2d data, about 500M, with thunder download

Https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

3d data, 8G or so, the same with thunder download

Https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag

Some students reflect the above link is invalid, please use the following can.

Https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag

Then run the launch file.

Roslaunch Cartographer_ros Demo_backpack_2d.launch Bag_filename:=${home}/downloads/cartographer_paper_deutsches_ Museum.bag

Roslaunch Cartographer_ros Demo_backpack_3d.launch Bag_filename:=${home}/downloads/cartographer_3d_deutsches_ Museum.bag

Just start using Ros the following two sentences are not working, there may be errors as follows.

[Demo_backpack_2d.launch] is neither a launch file in the package [Cartographer_ros] Nor is [Cartographer_ros] a launch file n Ame
The Traceback for the exception is written to the log file

The main reason for this kind of error is the CATKIN_WS configuration problem of Ros, which can be run Rospack profile test.

Not really. There are two workarounds, as shown below. Recommended second type.

The end result is 2d on the left and 3d on the right.

Good luck! about the principle of code, the next article may be discussed in detail .

Youdao Dictionary Internal Compil ...DetailXInternal compilation error: death

Cartographer Installation--ubuntu14.04--indigo