google cartographer 安装

转载from：http://www.cnblogs.com/hitcm/

谷歌自己提供了安装方法，但是安装比较繁琐，我做了一定的修改，代码放到个人github上,https://github.com/hitcm/。

ros下面的安装非常快捷，只需要catkin_make即可。

更多细节，可以看看知乎的问题https://www.zhihu.com/question/51348391/answer/125560951?from=profile_answer_card

 如下，需要安装3个软件包，ceres solver、cartographer和cartographer_ros

0.安装所有依赖项

sudo apt-get install -y google-mock libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx ros-indigo-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

1.首先安装ceres solver，选择的版本是1.11,路径随意

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

2. cd ceres-solver-1.11.0
   2.1 mkdir build
   2.2 cd build

3. cmake ..

4. make

5. sudo make install

2.然后安装 cartographer,路径随意

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

2. cd cartographer
   2.1. mkdir build
   2.2. cd build

//3. cmake .. -G Ninja
//4. ninja
//5. ninja test
//6. sudo ninja install

上述第3步执行错误的同学可以忽略3-6步，改用下面的方法。
7 cmake ..
8 make
9 sudo make install

3.安装cartographer_ros

谷歌官方提供的安装方法比较繁琐，我对原来的文件进行了少许的修改，核心代码不变，只是修改了编译文件
下载到catkin_ws下面的src文件夹下面
git clone https://github.com/hitcm/cartographer_ros.git
然后到catkin_ws下面运行catkin_make即可。

4.数据下载测试

2d数据，大概500M，用迅雷下载
https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
3d数据，8G左右，同样用迅雷下载
https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag
有同学反映上面链接失效了，请用下面的即可。
https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag

然后运行launch文件即可。
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
刚开始使用ROS的同学运行下面两句是无法工作的，可能出现的错误如下。
[demo_backpack_2d.launch] is neither a launch file in package [cartographer_ros] nor is [cartographer_ros] a launch file name The traceback for the exception was written to the log file
这种错误的主要原因是ros的catkin_ws配置问题，可以运行rospack profile试试。
实在不行还有如下所示的两种解决方法。推荐第二种。

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最终结果如下图，左侧为2d,右侧为3d。
Good luck!关于代码的原理解析，接下来的文章 可能会详细探讨。

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