elevation_mapping 安装辛酸史

地址 https://github.com/ANYbotics/elevation_mapping

安装依赖：

• Grid Map (grid map library for mobile robots)
• kindr (kinematics and dynamics library for robotics),
• kindr_ros (ROS wrapper for kindr),
• Point Cloud Library (PCL) (point cloud processing),
• Eigen (linear algebra library).

 

首先安装Grid Map

grid Map有两种安装方式(建议使用第一种，第二种方式坑很多)

1.直接安装到ros环境里

Installation from Packages

To install all packages from the grid map library as Debian packages use

sudo apt-get install ros-$ROS_DISTRO-grid-map

2.在工作空间里安装

安装eigen库

sudo apt-get install libeigen3-dev

下载并编译

cd catkin_ws/src
git clone https://github.com/anybotics/grid_map.git
cd ../
catkin_make

里面的坑：

1.costmap_2d找不到（ros为kinetic版本）

sudo apt-get install ros-kinetic-costmap-2d

2.octomap-msgs找不到

sudo apt-get install ros-kinetic-octomap-msgs

3. ImportError: No module named em

python -m pip install empy

首先安装kindr

下载到电脑，进入文件，编译

https://github.com/anybotics/kindr

mkdir build
cd build
cmake ..
sudo make install

首先安装kindr_ros

cd catkin_workspace/src
git clone https://github.com/anybotics/elevation_mapping.git
cd ../
catkin_make

安装pcl(特点：依赖多，编译慢)

git clone https://github.com/PointCloudLibrary/pcl.git（快速下载）

安装依赖项：

sudo apt-get install cmake
sudo apt-get install g++  
sudo apt-get install libboost1.58-all-dev 
sudo apt-get install libeigen3-dev
sudo apt-get install libflann-dev
sudo apt-get install python
sudo apt-get install libusb-1.0-0-dev
sudo apt-get install libudev-dev
sudo apt-get install freeglut3-dev
sudo apt-get install doxygen
sudo apt-get install graphviz
sudo apt-get install libpng12-dev
sudo apt-get install libgtest-dev
sudo apt-get install libxmu-dev
sudo apt-get install libxi-dev
sudo apt-get install libpcap-dev
sudo apt-get install libqhull-dev
sudo apt-get install libvtk5-qt4-dev
sudo apt-get install python-vtk
sudo apt-get install libvtk-java

编译安装：

打开终端进入pcl目录采用外部编译，

mkdir build

cd build

cmake ..

make 

sudo make install

Eigen库安装

sudo apt-get install libeigen3-dev

查看eigen库位置：

locate eigin3

 

elevation_mapping 安装

cd catkin_workspace/src
git clone https://github.com/anybotics/elevation_mapping.git
cd ../
catkin_make

Unit Tests

Run the unit tests with

catkin_make run_tests_elevation_map_msg run_tests_elevation_mapping