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cartographer安装与demo
绿竹巷人
分类：ROS
发布时间 2021.06.18阅读数 5256 评论数 0
描述 Ubuntu系统下安装cartographer 需要说明的是：每个人电脑配置是不同的，而cartographer的依赖库又比较多，所以难免出来各种各样的问题 由于我的电脑安装库比较多也比较杂，本文章只是描述我的安装过程，不一定通用安装命令1. 安装依赖 "VERSION="的那句一定要执行#后面的语句是注释 以下的命令都是摘抄官网，不信任的话可以去cartographer官网找命令来执行https://google-cartographer.readthedocs.io/en/latest/，都是一样的 # 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" ]] then sudo apt-get install -y python3-sphinx libgmock-dev libceres-dev protobuf-compiler else sudo apt-get install -y python-sphinx if [[ "$(lsb_release -sc)" = "bionic" ]] then sudo apt-get install -y libceres-dev fi fi git clone https://github.com/abseil/abseil-cpp.git cd abseil-cpp git checkout d902eb869bcfacc1bad14933ed9af4bed006d481 mkdir build cd build cmake -G Ninja \ -DCMAKE_BUILD_TYPE=Release \ -DCMAKE_POSITION_INDEPENDENT_CODE=ON \ -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \ .. ninja sudo ninja install cd /usr/local/stow sudo stow absl VERSION="1.13.0" # Build and install Ceres. git clone https://ceres-solver.googlesource.com/ceres-solver cd ceres-solver git checkout tags/${VERSION} mkdir build cd build cmake .. -G Ninja -DCXX11=ON ninja CTEST_OUTPUT_ON_FAILURE=1 ninja test sudo ninja install VERSION="v3.4.1" # Build and install proto3. git clone https://github.com/google/protobuf.git cd protobuf git checkout tags/${VERSION} mkdir build cd build cmake -G Ninja \ -DCMAKE_POSITION_INDEPENDENT_CODE=ON \ -DCMAKE_BUILD_TYPE=Release \ -Dprotobuf_BUILD_TESTS=OFF \ ../cmake ninja sudo ninja install 2. 安装cartographer依旧是官网命令照抄，官网网址https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html sudo apt-get update sudo apt-get install -y python-wstool python-rosdep ninja-build stow mkdir catkin_google_ws cd catkin_google_ws wstool init src wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall wstool update -t src sudo rosdep init rosdep update rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y src/cartographer/scripts/install_abseil.sh sudo apt-get remove ros-${ROS_DISTRO}-abseil-cpp catkin_make_isolated --install --use-ninja最后一句就是编译命令肯定会有编译问题，我在文章的最后一章列举了解决办法 3. 验证跑一下官方数据，下载数据 wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bagsource一下 cd ~/catkin_google_ws source install_isolated/setup.sh跑吧 roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag问题1：Boost的版本问题 提示错误，最常见的undefined reference to 错误，显然就是没有成功链接库引起的 undefined reference to boost::iostream 查找错误 比如你的cartographer工作空间名字叫做catkin_google_ws 那么去catkin_google_ws/src/cartographer路径下找到CMakeLists.txt并打开，找到以下的几句话 find_package(Boost 1.58 REQUIRED COMPONENTS ${BOOST_COMPONENTS}) find_package(Ceres REQUIRED COMPONENTS SuiteSparse) find_package(Eigen3 REQUIRED) find_package(LuaGoogle REQUIRED) 你需要做的是设置一下boost查找路径，让系统先从你设置的路径开始寻找boost命令set(BOOST_ROOT "/usr/") 查看一下编译找到的Boost库，它的include和lib路径究竟是什么命令 `MESSAGE(${Boost_INCLUDE_DIRS})`和`MESSAGE(${Boost_LIBRARIES})`都弄好了是这样的 set(BOOST_ROOT "/usr/") find_package(Boost 1.58 REQUIRED COMPONENTS ${BOOST_COMPONENTS}) MESSAGE(${Boost_INCLUDE_DIRS}) MESSAGE(${Boost_LIBRARIES})正确的提示 cartographer能够编译正确时，需要的是 MESSAGE(${Boost_INCLUDE_DIRS})应该打印出的是/usr/local/include MESSAGE(${Boost_LIBRARIES})应该打印出的是/usr/lib/x86_64-linux-gnu/libboost_iostreams.so/usr/lib/x86_64-linux-gnu/libboost_regex.so 而我的MESSAGE(${Boost_LIBRARIES})输出是/usr/local/lib/libboost_iostreams.so/usr/local/lib/libboost_regex.so 显然是不对的 解决办法 我不太知道，为什么我的include路径没有错，但是lib文件却找的不对。没什么时间，不求甚解的解决吧。我的解决办法是，生硬的在链接命令上添加了需要的这两个so库文件 请你在boost的target_link_libraries的最后添加/usr/lib/x86_64-linux-gnu/libboost_iostreams.so /usr/lib/x86_64-linux-gnu/libboost_regex.so 解决 重新执行编译命令catkin_make_isolated --install --use-ninja，这个问题已经被解决了 问题2：Eigen的版本问题 错误提示 执行编译命令catkin_make_isolated --install --use-ninja时,终端提示错误，错误消息如下 CMake Error at CMakeLists.txt:243 (find_package): Could not find a configuration file for package "Eigen3" that is compatible with requested version "3.3". The following configuration files were considered but not accepted: /usr/lib/cmake/eigen3/Eigen3Config.cmake, version: unknown 原因：需要安装一个比3.3更新的eigen3库 解决办法：随便cd到某个目录下，依次执行以下命令，即可解决 git clone https://github.com/eigenteam/eigen-git-mirror cd eigen-git-mirror mkdir build cd build cmake .. sudo make install再次执行编译命令catkin_make_isolated --install --use-ninja时，不会再报错 问题3：Ceres的版本问题 在一个新的纯净的Ubuntu16.04系统上，我想要安装cartographer。首先安装ros-kinetic成功了，随后按照我之前上面的总结，一步步执行。却发现执行命令catkin_make_isolated --install --use-ninja编译cartographer失败 问题提示是如下这样（以下只是一部分） In file included from /usr/local/include/ceres/internal/parameter_dims.h:37:0, from /usr/local/include/ceres/internal/autodiff.h:151, from /usr/local/include/ceres/autodiff_cost_function.h:130, from /usr/local/include/ceres/ceres.h:37, from /home/fuxirobot/catkin_google_ws/src/cartographer/cartographer/common/math.h:25, from /home/fuxirobot/catkin_google_ws/src/cartographer/cartographer/transform/rigid_transform.h:28, from /home/fuxirobot/catkin_google_ws/src/cartographer/cartographer/ground_truth/relations_text_file.cc:22: /usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:16: error: ‘integer_sequence’ is not a member of ‘std’ struct SumImpl { ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:16: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:46: error: wrong number of template arguments (3, should be 1) struct SumImpl { ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template struct ceres::internal::SumImpl’ struct SumImpl; ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:49: error: expected unqualified-id before ‘>’ token struct SumImpl { ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:71:16: error: ‘integer_sequence’ is not a member of ‘std’ struct SumImpl { ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:71:16: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:71:51: error: wrong number of template arguments (4, should be 1) struct SumImpl { ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template struct ceres::internal::SumImpl’ struct SumImpl; ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:71:54: error: expected unqualified-id before ‘>’ token struct SumImpl { ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:78:16: error: ‘integer_sequence’ is not a member of ‘std’ struct SumImpl { ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:78:16: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:78:59: error: wrong number of template arguments (6, should be 1) struct SumImpl { ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template struct ceres::internal::SumImpl’ struct SumImpl; ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:78:62: error: expected unqualified-id before ‘>’ token struct SumImpl { ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:85:16: error: ‘integer_sequence’ is not a member of ‘std’ struct SumImpl { ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:85:16: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:85:41: error: wrong number of template arguments (2, should be 1) struct SumImpl { ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template struct ceres::internal::SumImpl’ struct SumImpl; ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:85:42: error: expected unqualified-id before ‘>’ token struct SumImpl { ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:91:16: error: ‘integer_sequence’ is not a member of ‘std’ struct SumImpl { ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:91:16: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:91:38: error: template argument 1 is invalid struct SumImpl { ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:91:39: error: expected unqualified-id before ‘>’ token struct SumImpl { ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:135:26: error: ‘integer_sequence’ is not a member of ‘std’ std::integer_sequence, ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:135:26: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:135:59: error: wrong number of template arguments (5, should be 4) std::integer_sequence, ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:130:8: note: provided for ‘template struct ceres::internal::ExclusiveScanImpl’ struct ExclusiveScanImpl; ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:146:34: error: ‘integer_sequence’ is not a member of ‘std’ struct ExclusiveScanImpl { ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:146:34: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:146:57: error: wrong number of template arguments (3, should be 4) struct ExclusiveScanImpl { ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:130:8: note: provided for ‘template struct ceres::internal::ExclusiveScanImpl’ struct ExclusiveScanImpl;原因在安装Ceres没有执行VERSION="1.13.0"，没有设定需要安装的版本，在后面的一句git checkout tags/${VERSION}，checkout到了错误的tag上。有关VERSION这一点，我已经在前面的步骤中修复，并重新用红字提示出来了 解决办法首先，删去之前安装的ceres-solver sudo rm -r /usr/local/lib/cmake/Ceres sudo rm -rf /usr/local/include/ceres /usr/local/lib/libceres.a sudo rm -r /usr/local/share/Ceres然后，按照前面的操作指示重新安装了一遍Ceres即可 3D SLAM建模仿真建图导航CartographerROS入门
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