Turtlebot3-ROS2入门教程-Cartographer算法安装

Turtlebot3-ROS2入门教程-Cartographer算法安装

说明：

• 介绍如何在ubuntu 18.04.1 LTS 系统下简单安装Cartographer算法
• 测试环境：ubuntu 18.04.1 LTS + ROS2 Bouncy

安装步骤：

• [Remote PC] 安装ceres-solver

## 安装相应的库

$ sudo apt-get install cmake
$ sudo apt-get install libgoogle-glog-dev
$ sudo apt-get install libatlas-base-dev   
$ sudo apt-get install libsuitesparse-dev 
$ sudo apt-get install libeigen3-dev

## 编译ceres-solver静态库

$ cd && wget https://github.com/ceres-solver/ceres-solver.git
$ cd ~/ceres-solver
$ mkdir build && cd build
$ cmake ../../ceres-solver
$ make -j4
$ make install

• [Remote PC] 安装cairo

$ sudo apt-get install libcairo2-dev

• [Remote PC] 安装yam-cpp

$ git clone https://github.com/jbeder/yaml-cpp.git
$ mkdir build && cd build
$ cmake -DBUILD_SHARED_LIBS=ON ..
$ make
$ sudo make install

• [Remote PC] 安装cartographer算法

$ cd ~/turtlebot3_ws/src
$ git clone -b release-latest https://github.com/ros2/cartographer.git
$ git clone -b release-latest https://github.com/ros2/cartographer_ros.git
$ cd ~/turtlebot3_ws && colcon build

FAQ

• cartographer算法编译时可能会遇到的问题1

CMake Error at /usr/lib/cmake/eigen3/Eigen3Config.cmake:24 (message):
  File or directory /usr/share/cartographer/cmake referenced by variable
  CARTOGRAPHER_CMAKE_DIR does not exist !
Call Stack (most recent call first):
  /home/lalala/turtlebot3_ws/install/cartographer/share/cartographer/cartographer-config.cmake:57 (set_and_check)
  CMakeLists.txt:39 (find_package)
---
Failed   <<< cartographer_ros   [ Exited with code 1 ]

• 解决方法：先查找相应的文件的位置，再建立相应的软连接

$ find -name cartographer-config.cmake  
$ sudo ln -s ~/turtlebot3_ws/install/cartographer/share/cartographer/cmake /usr/share/cartographer

• cartographer算法编译时可能会遇到的问题2

 from /home/lalala/turtlebot3_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/assets_writer.cc:17:
/home/lalala/turtlebot3_ws/src/cartographer/cartographer/sensor/point_cloud.h:23:10: fatal error: cartographer/sensor/proto/sensor.pb.h: 没有那个文件或目录
 #include "cartographer/sensor/proto/sensor.pb.h"
 

• 解决方法：先查找相应的文件的位置，再建立相应的软连接或直接复制到目标目录下

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参考链接：

• http://www.cnblogs.com/taolusi/p/9248280.html

• http://www.mamicode.com/info-detail-2184490.html