ROS-kinetic中运行谷歌cartographer软件包

声明：

系统：ubuntu16.04，ros-kinetic
本文主要参考hitcm的博客：https://www.cnblogs.com/hitcm/p/5939507.html

老规矩，先上图（当前仅测试了2D数据）：

Screenshot from 2018-11-02 22-35-23.png

1.首先安装依赖包

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  

注意：ros-kinetic-tf2-eigen根据自己ros的版本修改，如indigo版本改为ros-indigo-tf2-eigen即可。

2.安装ceres solver

路径随意，建议先创建一个零时目录，然后在里面安装ceres solver和cartographer。

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

说明：hitcm的博客第6步用得make -j，本人直接运行电脑会卡死，原因暂时未知。

3.安装 cartographer

git clone https://github.com/hitcm/cartographer.git 
cd cartographer 
mkdir build 
cd build
cmake .. 
make 
sudo make install 

4.安装cartographer_ros

这里直接用hitcm的代码了（核心代码不变，只是修改了编译文件），亲测可用。

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

下载到catkin_ws下面的src文件夹下面，然后到catkin_ws下面运行catkin_make构建工作空间即可，若直接catkin_make出错，可尝试：

catkin_make_isolated --install --use-ninja 

5.测试数据下载

2D数据，大概500M，建议用迅雷下载（本人只测试了2D数据）：
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
若上面链接失效了，请用下面的：
https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag

6.运行launch文件

注意：请根据自己保存.bag文件的路径修改“=”后面的文件路径。

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=/home/Downloads/cartographer_paper_deutsches_museum.bag

或：

roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=/home/Downloads/cartographer_3d_deutsches_museum.bag

补充（本段内容本人未遇到）：

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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