网站建设论坛社区,如何推销网站,网站计数器php,今天刚刚长沙又增加了一例其实一直以来都感觉纯视觉SLAM很难落地产品#xff0c;所以一直在找机会学习激光slam,之前也在深蓝学院上买了一个激光salm的课程#xff0c;惭愧#xff0c;至今也没开始学呢#xff0c;年底之前#xff0c;我想工作之余研究一下激光slam和ros#xff0c;我感觉这两个东…其实一直以来都感觉纯视觉SLAM很难落地产品所以一直在找机会学习激光slam,之前也在深蓝学院上买了一个激光salm的课程惭愧至今也没开始学呢年底之前我想工作之余研究一下激光slam和ros我感觉这两个东西对我来说很重要所以这两天先抽时间把google的cartographer工程配置了一下期间也遇到了一些问题不过我逐一解决最终配置成功。接下来就开始研究激光slam技术以及cartographer的代码。希望能帮上和我一起想开始学习cartographer的小伙伴如果有什么问题可以随时想我提问大家一起学习。
更新注意我之前安装了conda,conda里面的python版本是3.7的我在安装cartographer_ros的时候没有关闭conda所以出现了错误因为ros只能在python2.7版本下才能正常工作所以我就conda deactivate base.这样就恢复到了原来的python2.7的版本。
参考文献如下
https://google-cartographer.readthedocs.io/en/latest/
https://blog.csdn.net/xmy306538517/article/details/81455625
https://www.cnblogs.com/hitcm/p/5939507.html
step1安装一些依赖库
# Install the required libraries that are available as debs.
sudo apt-get update
sudo apt-get install -y \clang \cmake \g \git \google-mock \libboost-all-dev \libcairo2-dev \libcurl4-openssl-dev \libeigen3-dev \libgflags-dev \libgoogle-glog-dev \liblua5.2-dev \libsuitesparse-dev \lsb-release \ninja-build \stow# Install Ceres Solver and Protocol Buffers support if available.
# No need to build it ourselves.
if [[ $(lsb_release -sc) focal || $(lsb_release -sc) buster ]]
thensudo apt-get install -y python3-sphinx libgmock-dev libceres-dev protobuf-compiler
elsesudo apt-get install -y python-sphinxif [[ $(lsb_release -sc) bionic ]]thensudo apt-get install -y libceres-devfi
fi step2 安装abseil 注意在最后一步执行sudo stow absl之前要先执行sudo apt-get install stow安装stow
git clone https://github.com/abseil/abseil-cpp.git
cd abseil-cpp
git checkout d902eb869bcfacc1bad14933ed9af4bed006d481
mkdir build
cd build
cmake -G Ninja \-DCMAKE_BUILD_TYPERelease \-DCMAKE_POSITION_INDEPENDENT_CODEON \-DCMAKE_INSTALL_PREFIX/usr/local/stow/absl \..
ninja
sudo ninja install
cd /usr/local/stow
sudo stow absl
step3: 这个下载链接是google的资源如果你没有设置全局翻墙在terminal不可翻墙就不能下载成功解决方法是在github里搜索ceres-solver,然后采用git clone的方式下载如果在网页上直接Download下载下来的工程中灭有.git文件无法完成git checkout tags/${VERSION}
VERSION1.13.0# Build and install Ceres.
git clone https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver
git checkout tags/${VERSION}
mkdir build
cd build
cmake .. -G Ninja -DCXX11ON
ninja
CTEST_OUTPUT_ON_FAILURE1 ninja test
sudo ninja install
step4: 安装protobuf.使用下面的下载链接下载时如果一直出现early EOF的超时错误时就使用
git clone --depth1 https://github.com/google/protobuf.git 进行下载--depth1是约束了只下载最新git log的版本。
VERSIONv3.4.1# Build and install proto3.
git clone https://github.com/google/protobuf.git
cd protobuf
git checkout tags/${VERSION}
mkdir build
cd build
cmake -G Ninja \-DCMAKE_POSITION_INDEPENDENT_CODEON \-DCMAKE_BUILD_TYPERelease \-Dprotobuf_BUILD_TESTSOFF \../cmake
ninja
sudo ninja install
step5: 安装cartographer
# Build and install Cartographer.git clone gitgithub.com:cartographer-project/cartographer.git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
CTEST_OUTPUT_ON_FAILURE1 ninja test
sudo ninja install
step6:安装cartographer_ros
注意创建ros工程的workspace时根据你自己的路径来就可以还有在将工程的devel中的setup.bash的路径写入到.bashrc中时也要注意你的路径。这样做的好处你你新打开一个窗口进行操作时不需要重新执行source YOUR_PATH/devel/setup.bash了就。
sudo apt-get install -y python-wstool python-rosdep ninja-buildmkdir -p /code/ROS/catkin_ws_cartographer/src
cd /code/ROS/catkin_ws_cartographer/src
git clone --recursive https://github.com/googlecartographer/cartographer_ros.gitcd /code/ROS/catkin_ws_cartographer
catkin_make_isolated --install --use-ninja -Dcartographer_DIR/usr/local/share/cartographer/
source /code/ROS/catkin_ws_cartographer/devel_isolated/setup.bash
echo source /code/ROS/catkin_ws_cartographer/devel_isolated/setup.bash ~/.bashrc
step7:下载数据集
2d数据集
https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
3d数据集
https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag
step8: 运行程序
注意修改成你自己的存放数据集的路径。
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
step9: 测试结果展示
