cartographer安装

官网：https://google-cartographer.readthedocs.io/en/latest/

按顺序安装

1 安装依赖

sudo apt-get update
sudo apt-get install -y 
    cmake 
    g++ 
    git 
    google-mock 
    libboost-all-dev 
    libcairo2-dev 
    libeigen3-dev 
    libgflags-dev 
    libgoogle-glog-dev 
    liblua5.2-dev 
    libprotobuf-dev 
    libsuitesparse-dev 
    libwebp-dev 
    ninja-build 
    protobuf-compiler 
    python-sphinx

2 安装ceres

git clone https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install

3 安装cartographer和cartographer_ros

# Install wstool and rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

# Create a new workspace in 'catkin_ws'.
mkdir catkin_ws
cd catkin_ws
wstool init src

# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src

# Install deb dependencies.
# The command 'sudo rosdep init' will print an error if you have already
# executed it since installing ROS. This error can be ignored.
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# Build and install.
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

这里需要注意，有时提示找不到eigen3，可以在usr中搜索eigen，找到FindEigen3.cmake，放入到cartographer/cmake/modules文件夹中。

4 下载数据集

https://google-cartographer-ros.readthedocs.io/en/latest/data.html

5 测试

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

论文地址 Real-Time Loop Closure in 2D LIDAR SLAM

W. Hess, D. Kohler, H. Rapp, and D. Andor, Real-Time Loop Closure in 2D LIDAR SLAM, in Robotics and Automation (ICRA), 2016 IEEE International Conference on. IEEE, 2016. pp. 1271–1278.