google激光雷达slam算法Cartographer的安装及bag包demo测试 |
您所在的位置：网站首页 › slam鏐97鍯d59cd镝7b › google激光雷达slam算法Cartographer的安装及bag包demo测试 |
|
Cartographer 是google于2016年９月开源的一套激光雷达slam算法,精度和效果在业界处于领先水准。点击查看最终效果。 操作步骤： １．安装依赖包 # Install the required libraries that are available as debs. sudo apt-get update sudo apt-get install -y \ cmake \ g++ \ git \ google-mock \ libboost-all-dev \ libcairo2-dev \ libeigen3-dev \ libgflags-dev \ libgoogle-glog-dev \ liblua5.2-dev \ libprotobuf-dev \ libsuitesparse-dev \ libwebp-dev \ ninja-build \ protobuf-compiler \ sphinx-common python-sphinx 可以换成 sphinx-common 2．安装ceres solver cd ~/Documents git clone https://ghproxy.com/https://github.com/ceres-solver/ceres-solver.git cd ceres-solver git checkout 1.14.x mkdir build cd build cmake .. #git hook时间比较长，耐心等待 make -j sudo make install 3．安装prtobuf 3.0 cd ~/Documents git clone https://ghproxy.com/https://github.com/google/protobuf.git cd protobuf git checkout v3.6.1 mkdir build cd build cmake \ -DCMAKE_POSITION_INDEPENDENT_CODE=ON \ -DCMAKE_BUILD_TYPE=Release \ -Dprotobuf_BUILD_TESTS=OFF \ ../cmake make -j 2 sudo make install 4．安装cartographer cd ~/Documents git clone https://gitee.com/BlueWhaleRobot/cartographer.git cd cartographer mkdir build cd build cmake .. make -j sudo make install 5．安装cartographer_ros cd ~/Documents/ros/src #请修改路径到自己的ROS catkin工作空间 git clone https://git.bwbot.org/publish/cartographer_ros cd .. catkin_make 6．安装已完成，开始下载测试用的bag文件点击下述链接下载文件，保存到桌面 下载链接 7．启动demo演示，正常可以看到rviz启动并开始建图根据个人平台计算能力不同，本demo完整运行时间一般为半个小时到1个小时之间 roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Desktop/cartographer_paper_deutsches_museum.bag 8．提取建立的地图，结束测试上面步骤7会生成一个pbstream文件，用cartographer_ assets_writer可以转换成栅格地图 roslaunch cartographer_ros assets_writer_ros_map.launch bag_filenames:=${HOME}/Desktop/cartographer_paper_deutsches_museum.bag pose_graph_filename:=${HOME}/Desktop/cartographer_paper_deutsches_museum.bag.pbstream现在在home目录下的Desktop文件夹内会生成建立的地图文件，这两个文件（pgm 和 yaml）在ros中的map_server中可以加载使用 |
| CopyRight 2018-2019 办公设备维修网 版权所有 豫ICP备15022753号-3 |