移植安装cartographer_ros

安装ros(kinetic):

1.添加ros到更新源:

2.添加key：

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

3.更新一下软件库:

sudo apt-get update

4.安装ros：

sudo apt-get install ros-kinetic-desktop-full

5.安装完成后更新一下rosdep：

sudo rosdep init
rosdep update

6.添加环境变量

全局：

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

针对当前shell

source /opt/ros/kinetic/setup.bash

7.安装开发支持包：

sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

OK！

安装cartographer_ros:

1.安裝wstool和rosdep：

sudo apt-get install -y python-wstool python-rosdep ninja-build

2.新建工作空間，這裏使用catkin_ws：

mkdir catkin_ws

cd catkin_ws

wstool init src

3.下载

wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall 

wstool update -t src

在update的时候，下载cere-solver失败，可能是没有的原因，不过cartographer和cartographer_ros都行下载成功了，ceres-solver手动下载即可：

https://github.com/ceres-solver/ceres-solver.git

下载下来之后我使用zip的方式下到电脑上，然后解压得到ceres-solver-master文件夹，改名为ceres-solver后放到catkin工作空间的src下面，然后：

rosdep install --from-paths src --ignore-src --rosdistro kinetic -y

就会开始安装一些东西，可能前面会有关于ceres-solver的警告，不过不影响后面的进度。接下来开始安装：

1.切换到root用户下

sudo su

2.更新环境变量使root用户可以使用catkin_make_isolated命令(参考http://wiki.ros.org/catkin/commands/catkin_make)

source /opt/ros/kinetic/setup.bash

3.安装

catkin_make_isolated --install --use-ninja

在编译过程中，编译cartographer的时候，遇到字符编码错误？提示locale error，为en。看来没装en的编码： 

先安装：

locale-gen en_US.UTF-8 

vim /etc/default/locale 

改成： 

LANG=en_US.UTF-8 

LANGUAGE=en_US:en 

LC_ALL=en_US.UTF-8 

然后保存后退出，安装   

update-locale

locale

locale -a

都可以查看下信息，记得重启。

最后嵌入式机器上可能在编译cc的时候一直提示c++错误，大概是内存不够的意思，这个时候建议切换到具体源码下，直接用ninja来编译，出错就重启，重复此操作，直到单一源码编译通过，不过后来网上查了下有个方法可增加虚拟内存，亲测有效：

1. 创建分区文件，大小 2G

dd if=/dev/zero of=/swapfile bs=1kcount=2048000

2. 生成 swap文件系统

mkswap /swapfile

3. 激活 swap文件

swapon /swapfile

4. 修改 /etc/fstab文件，新增如下内容：

/swapfile swap swap defaults 0 0

catkin_make_isolated--install--use-ninja

这命令并不会重复编译所以不必担心之前编译的被忽略。

看到这个命令圆满执行成功，心里终于踏实了，先运行下面的命令更新cartographer安装

source install_isolated/setup.bash

下面准备开始运行demo。

可以用命令下载：

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

我是在PC上直接下载，速度够快，在网页中直接输入： 

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

上面是个2d的demo大概400m多，下完之后放到/home/ubuntu/slam下面，目录自定，然后运行:

roslaunch cartographer_rosdemo_backpack_2d.launchbag_filename:=/home/ubuntu/slam/cartographer_paper_deutsches_museum.bag 

后面就会有图形界面出来了，一运行就开始在slam了，就像之前视频里看到其他大神的那样。

其他DEMO的链接:

# Download the 2D backpack example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag


# Launch the 2D backpack demo.
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag


# Download the 3D backpack example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag


# Launch the 3D backpack demo.
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag


# Download the Revo LDS example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag


# Launch the Revo LDS demo.
roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag


# Download the PR2 example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag


# Launch the PR2 demo.
roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag


# Download the Taurob Tracker example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag


# Launch the Taurob Tracker demo.
roslaunch cartographer_ros demo_taurob_tracker.launch bag_filename:=${HOME}/Downloads/taurob_tracker_simulation.bag