依赖

sudo apt-get update

sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow

创建工作空间并下载源码

mkdir catkin_ws
cd catkin_ws
wstool init src
cd src && git clone http://www.aigrantli.com:1080/cartographer/cartographer_ros.git

编译

cd catkin_ws

catkin_make_isolated --install --use-ninja

Demo

Deutsches Museum

2D demo

1. 启动demo

cd catkin_ws
source install_isolated/setup.bash

wget -P ~/catkin_ws/install_isolated/share/cartographer_ros/bag https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

roslaunch cartographer_ros demo_backpack_2d.launch

2. 保存地图

rosrun map_server map_saver -f ~/catkin_ws/install_isolated/share/cartographer_ros/maps/DM_2Dmap

3D demo

1. 启动demo

cd catkin_ws
source install_isolated/setup.bash

wget -P ~/catkin_ws/install_isolated/share/cartographer_ros/bag https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag

roslaunch cartographer_ros demo_backpack_3d.launch

2. 保存地图

rosrun map_server map_saver -f ~/catkin_ws/install_isolated/share/cartographer_ros/maps/DM_3Dmap

Pure localization

2D demo

1. 启动demo

wget -P ~/catkin_ws/install_isolated/share/cartographer_ros/bag https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-05-14-44-52.bag
wget -P ~/catkin_ws/install_isolated/share/cartographer_ros/bag https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-27-12-31-41.bag

cd catkin_ws
source install_isolated/setup.bash

roslaunch cartographer_ros offline_backpack_2d.launch

roslaunch cartographer_ros demo_backpack_2d_localization.launch 

2. 保存地图

rosrun map_server map_saver -f ~/catkin_ws/install_isolated/share/cartographer_ros/maps/PL_2Dmap

3D demo

1. 启动demo

wget -P ~/catkin_ws/install_isolated/share/cartographer_ros/bag https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-13-54-42.bag
wget -P ~/catkin_ws/install_isolated/share/cartographer_ros/bag https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-15-52-20.bag

cd catkin_ws
source install_isolated/setup.bash

roslaunch cartographer_ros offline_backpack_3d.launch 

roslaunch cartographer_ros demo_backpack_3d_localization.launch

2. 保存地图

rosrun map_server map_saver -f ~/catkin_ws/install_isolated/share/cartographer_ros/maps/PL_3Dmap

Revo LDS

1. 启动demo

wget -P ~/catkin_ws/install_isolated/share/cartographer_ros/bag https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag

cd catkin_ws
source install_isolated/setup.bash

roslaunch cartographer_ros demo_revo_lds.launch

2. 保存地图

rosrun map_server map_saver -f ~/catkin_ws/install_isolated/share/cartographer_ros/maps/RLmap

PR2

1. 启动demo

wget -P ~/catkin_ws/install_isolated/share/cartographer_ros/bag https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag

cd catkin_ws
source install_isolated/setup.bash

roslaunch cartographer_ros demo_pr2.launch

2. 保存地图

rosrun map_server map_saver -f ~/catkin_ws/install_isolated/share/cartographer_ros/maps/PR2map

Taurob Tracker

1. 启动demo

wget -P ~/catkin_ws/install_isolated/share/cartographer_ros/bag https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag

cd catkin_ws
source install_isolated/setup.bash

roslaunch cartographer_ros demo_taurob_tracker.launch

2. 保存地图

rosrun map_server map_saver -f ~/catkin_ws/install_isolated/share/cartographer_ros/maps/TTmap

Cartographer ROS for TurtleBots

1. 启动demo

wget -P ~/catkin_ws/install_isolated/share/cartographer_turtlebot/bag https://storage.googleapis.com/cartographer-public-data/bags/turtlebot/cartographer_turtlebot_demo.bag

cd catkin_ws
source install_isolated/setup.bash

# Launch the 2D LIDAR demo.
roslaunch cartographer_turtlebot demo_lidar_2d.launch

# Launch the 2D depth camera demo.
roslaunch cartographer_turtlebot demo_depth_camera_2d.launch

# Launch the 3D depth camera demo.
roslaunch cartographer_turtlebot demo_depth_camera_3d.launch

2. 保存地图

rosrun map_server map_saver -f ~/catkin_ws/install_isolated/share/cartographer_ros/maps/CRTmap

参考链接

1. Cartographer ROS Integration

2. Cartographer ROS for TurtleBots