Turtlebot3中级教程-Cartographer-turtlebot 安装

说明

• 谷歌开源SLAM库Cartographer 介绍
• cartographer Github
• Cartographer ROS for TurtleBots Github |　文档

来自官方的安装方法

• 修改ceres-solver地址：
• github地址：https://github.com/ceres-solver/ceres-solver.git

注意：如果在树莓派下安装需要使用至少16G卡，并扩展2G的swap空间

库安装

• ubuntu 16.04 + Kinetic 测试运行

• 我们推荐使用wstool和rosdep.但更快安装推荐使用Ninja.

• 安装依赖：

$ 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

• 安装步骤：

# Install wstool and rosdep.

$ sudo apt-get update
$ sudo apt-get install -y python-wstool python-rosdep ninja-build

# Create a new workspace in 'cartographer_ws'.

$ mkdir cartographer_ws
$ cd cartographer_ws
$ wstool init src

# Merge the cartographer_turtlebot.rosinstall file and fetch code for dependencies.

$ wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall

$ vim src/.rosinstall
#更改ceres-solver中地址改为下面的地址：
#>>uri: https://github.com/ceres-solver/ceres-solver.git

$ wstool update -t src

# Install deb dependencies.

$ rosdep update

# install proto3

$ src/cartographer/scripts/install_proto3.sh
$ rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# Build and install.
$ catkin_make_isolated --install --use-ninja -j1
$ source install_isolated/setup.bash

• 添加到.bashrc

$ echo "source ~/cartographer_ws/install_isolated/setup.bash" >> ~/.bashrc

问题：

• 问题1：

cartographer/mapping/proto/submap.proto:15:10: Unrecognized syntax identifier "proto3".  This parser only recognizes "proto2".

• 解决：可能同时安装了proto2，优先找了/usr/bin/protoc的版本, 新安装的proto3放在/usr/local/bin/protoc下，建立一个软连接。

$ sudo mv /usr/bin/protoc  /usr/bin/protoc.bk 
$ sudo ln -s /usr/local/bin/protoc /usr/bin/protoc

• 问题2：出现卡死在编译map_builder_bridge.cc.o
• 解决：扩展卡大小至少16G以上，并扩展swap2G以上