Cartographer系列之三——ROS中的安装

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Cartographer ROS Integration

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. This project provides Cartographer’s ROS integration.
官网地址：https://github.com/googlecartographer

一、安装说明

1. System Requirements

Although Cartographer may run on other systems, it is confirmed to be working on systems that meet the following requirements:

• 64-bit, modern CPU (e.g. 3rd generation i7)
• 16 GB RAM
• Ubuntu 14.04 (Trusty)
• gcc version 4.8.4
• ROS Indigo

2. Known Issues

• 32-bit builds have libeigen alignment problems which cause crashes and/or memory corruptions.

3. 安装流程主要参考Cartographer的官方安装教程：

• 官方安装教程Getting started without ROS:
  https://google-cartographer.readthedocs.io/en/latest/
• 官方安装教程Getting started with ROS:
  https://google-cartographer-ros.readthedocs.io/en/latest/

二、安装流程

1. 安装Ubuntu14.04（Trusty）

将安装镜像文件制作U盘镜像，进入BIOS或WIN10下进入设置->更新和安全->恢复->高级启动，使用U盘启动，完成Ubuntu14.04（Trusty）的安装。

2. 安装ROS（indigo）

参考文件
http://wiki.ros.org/indigo/Installation/Ubuntu （英文原版）
http://wiki.ros.org/cn/indigo/Installation/Ubuntu （中文翻译）

3. Building & Installation

We recommend using wstool and rosdep. For faster builds, we also recommend using Ninja.

# 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

注意：
此步骤需要科学上网，解决办法有两个：

• 科学上网。
  使用VPN等方式，使得可正常下载到ceres-solver。
• 不翻墙。
  修改下载地址为https://github.com/ceres-solver/ceres-solver.git，以正常下载到相关源码。
  cd src
mv .rosinstall rosinstall
  点击打开rosinstall文件，将内容替换为
  - git:
local-name: cartographer
uri: https://github.com/googlecartographer/cartographer.git
- git:
local-name: cartographer_ros
uri: https://github.com/googlecartographer/cartographer_ros.git
- git:
local-name: ceres-solver
uri: https://github.com/ceres-solver/ceres-solver.git
  然后继续将文件名改回
  mv rosinstall .rosinstall
cd ..

继续下列操作：

# Install deb dependencies.
rosdep init
rosdep update

以上两步如果在安装ROS中已经完成，此处会提示已初始化，则可不必再次初始化，直接继续下列操作：

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

注意： 如果每次打开一个新的终端时ROS环境变量都能够自动配置好（即添加到bash会话中），那将会方便得多：
echo "source ~/catkin_ws/install_isolated/setup.bash" >> ~/.bashrc
source ~/.bashrc
如果你只想改变当前终端下的环境变量，你可以执行命令：
source ~/catkin_ws/install_isolated/setup.bash

4. Running the demos

Now that Cartographer and Cartographer’s ROS integration are installed, download the example bags (e.g. 2D and 3D backpack collections of the Deutsches Museum) to a known location, in this case ~/Downloads, and use roslaunch to bring up the demo:

# 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

The launch files will bring up roscore and rviz automatically.