cartographer 安装

cartographer安装中间可能需要外网

sudo apt-get install libghc-gnutls-dev
sudo apt-get install cmake
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687

1.sudo apt-get update
2 sudo apt-get install -y python-wstool python-rosdep ninja-build
3 mkdir catkin_ws
4 cd catkin_ws
5 wstool init src
6 wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
7 wstool update -t src
8 src/cartographer/scripts/install_proto3.sh
9 sudo rosdep init (ignore this step if ros has been installed)
10 rosdep update
11 rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
12 catkin_make_isolated --install --use-ninja 13 source install_isolated/setup.bash 

数据下载测试

2d数据

https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

3d数据

https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag

运行launch文件即可
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/cartographer_3d_deutsches_museum.bag

参考：

1.https://blog.****.net/u013630299/article/details/79117504

2.https://blog.****.net/xmy306538517/article/details/81455625