问题解决方案2-------------ros的 Cartographer,ninja,ceres-solver,cartographer_ros安装及其问题,附上最好的安装方法(亲测有效)

一.编译Cartographer及其相关文件出错(强烈建议删除所有的相关文件,然后重新按照下面步骤安装-----------可别怪我没有提醒你,亲测有效!!!!!!)

1.出错内容(1):

CMake Error: CMake was unable to find a build program corresponding to "Ninja".  CMAKE_MAKE_PROGRAM is not set.  You probably need to select a different build tool.
CMake Error: CMAKE_C_COMPILER not set, after EnableLanguage
CMake Error: CMAKE_CXX_COMPILER not set, after EnableLanguage
-- Configuring incomplete, errors occurred!
<== Failed to process package 'cartographer': 
  Command '['cmake', '/home/shuaimou/google_ws/src/cartographer', '-DCMAKE_INSTALL_PREFIX=/home/shuaimou/google_ws/install_isolated', '-G', 'Ninja']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/shuaimou/google_ws/build_isolated/cartographer && cmake /home/shuaimou/google_ws/src/cartographer -DCMAKE_INSTALL_PREFIX=/home/shuaimou/google_ws/install_isolated -G Ninja

Command failed, exiting.

问题解决方案2-------------ros的 Cartographer,ninja,ceres-solver,cartographer_ros安装及其问题,附上最好的安装方法(亲测有效)_第1张图片
错误内容(2)

<== Failed to process package 'cartographer': 
  Command '['cmake', '/home/shuaimou/google_ws/src/cartographer', '-DCMAKE_INSTALL_PREFIX=/home/shuaimou/google_ws/install_isolated', '-G', 'Ninja']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/shuaimou/google_ws/build_isolated/cartographer && cmake /home/shuaimou/google_ws/src/cartographer -DCMAKE_INSTALL_PREFIX=/home/shuaimou/google_ws/install_isolated -G Ninja

Command failed, exiting.

问题解决方案2-------------ros的 Cartographer,ninja,ceres-solver,cartographer_ros安装及其问题,附上最好的安装方法(亲测有效)_第2张图片
原因:ninja-build未安装,cartographer为安装(cartographer是一个工作空间)
解决方法,安装相应的安装包(安装ninja-build,cartographer之后可能仍会出现错误,因为你可能还有其他依赖包没有安装,强烈建议删除所有的相关文件,然后重新按照下面步骤安装):

首先ninja-build 安装:

sudo apt-get update sudo apt-get install  ninja-build

cartographer为安装:

git clone https://github.com/hitcm/cartographer.git           #安装在根目录下面
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install

二.Google Cartographer安装教程(100%安装成功,强烈建议用第二种方法!!!!!!)

方法一,官方安装
(官方安装为依赖安装,只要你安装步骤没错,理论上可行,但在最后编译会遇到一个错误-------这一步

-catkin_make_isolated --install --use-ninja
时遇到一个build error),安装步骤如下,按照顺序执行即可:

			# 安装wstool 和 rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

			# 创建工作空间.
mkdir catkin_ws
cd catkin_ws
wstool init src

			#合并制图员cartographer_ros.rosinstall 文件并获取依赖项的代码 
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src          #会出现错误,见问题一 

			# 安装deb依赖项
			# 命令'sudo rosdep init' 可能会报错
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

			# 安装
catkin_make_isolated --install --use-ninja   #见问题二
source install_isolated/setup.bash

问题一:
如果你挂了 VPN ,一般不会出错。
如果你没有,会出现无法下载 ceres-solver 的问题,我们可以修改其下载地址[3]:
1) 修改 google_carto_ws/src/.rosinstall 文件
2) 修改 google_carto_ws/src/cartographter_ros/cartographter_ros.rosinstall 文件
将两个文件中的 ceres-solver 路径改为从 github 下载
https://github.com/ceres-solver/ceres-solver.git

下面是我的 .rosinstall 文件的内容:

- git:
    local-name: cartographer
    uri: https://github.com/googlecartographer/cartographer.git
- git:
    local-name: cartographer_ros
    uri: https://github.com/googlecartographer/cartographer_ros.git
- git:
    local-name: ceres-solver
    uri: https://github.com/ceres-solver/ceres-solver.git
    version: 1.12.0rc4
- git:
    local-name: cartographer_turtlebot
    uri: https://github.com/googlecartographer/cartographer_turtlebot.git   
- git:
    local-name: cartographer_fetch
    uri: https://github.com/googlecartographer/cartographer_fetch.git  

下面是我的 cartographter_ros.rosinstall 文件的内容:

- git: {local-name: cartographer, uri: 'https://github.com/googlecartographer/cartographer.git'}
- git: {local-name: cartographer_ros, uri: 'https://github.com/googlecartographer/cartographer_ros.git'}
- git: {local-name: ceres-solver, uri: 'https://ceres-solver.googlesource.com/ceres-solver.git', version: '1.12.0rc4'}
- git: {local-name: cartographer_turtlebot, uri: 'https://github.com/googlecartographer/cartographer_turtlebot.git'}
- git: {local-name: cartographer_fetch, uri: 'https://github.com/googlecartographer/cartographer_fetch.git'}

问题二:
在上面的
catkin_make_isolated --install --use-ninja
这一步时遇到一个build error,信息如下:

CMake Error at /home/xxx/catkin_ws/install_isolated/lib/cmake/Ceres/CeresConfig.cmake:88 (message):
Failed to find Ceres - Missing requested Ceres components:
[SparseLinearAlgebraLibrary] (components requested:

解决方法:
在/home/xxx/catkin_ws_cartographer/build_isolated/ceres-solver/install/CMakeCache.txt 里找到EIGENSPARSE:BOOL=OFF , 把OFF 改成ON

方法二,从hitcm大神的github下载,100%成功!!!!
步骤一,安装所有的依赖项:

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-kinetic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

步骤二,安装ceres-solver-1.11.0:

git clone https://github.com/hitcm/ceres-solver-1.11.0.git
cd ceres-solver-1.11.0
mkdir build
cd build
cmake ..
make -j4
sudo make install

步骤三,cartographer(安装在根目录下):

git clone https://github.com/hitcm/cartographer.git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install

步骤四,安装cartographer_ros:

git clone https://github.com/hitcm/cartographer.git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install

步骤五,安装cartographer_ros:

			#初始化工作空间,我之前有一个工作空间为catkin_ws,我的命名为google_ws
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

			#安装cartographer_ros
cd ~/catkin_ws/src
git clone https://github.com/hitcm/cartographer_ros.git
cd ~/catkin_ws
catkin_make

步骤六,安装成功
步骤七,下载验证,(参考博主 Cayla梦云 的博客),网址输入,即可下载,下载之后放在home目录下:
2D数据:
https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

3D数据:
https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag

roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/backpack_3d/b3-2016-04-05-14-14-00.bag

附上博主文章地址:https://blog.csdn.net/xmy306538517/article/details/81455625。真诚致谢

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