转载自

代码放到个人github上,

如下，需要安装3个软件包，ceres solver、cartographer和cartographer_ros

1.首先安装ceres solver，选择的版本是1.11,路径随意。

git clone 

mkdir build

cd ceres-solver-1.11.0/build

cmake ..

make –j

sudo make install

2.然后安装 cartographer,路径随意。

git clone 

安装依赖项

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-indigo-tf2-eigen

mkdir build

cd cartographer/build

cmake .. -G Ninja

ninja

ninja test

sudo ninja install

 

3.安装cartographer_ros,谷歌官方提供的安装方法比较繁琐，我对原来的文件进行了少许的修改，核心代码不变，只是修改了编译文件

下载到catkin_ws下面的src文件夹下面

git clone 

然后到catkin_ws下面运行catkin_make即可。

 

4.数据下载测试

2d数据，大概500M，用迅雷下载

3d数据，8G左右，同样用迅雷下载

然后运行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

如下图，左侧为2d,右侧为3d.