内容列表
1. ceres安装系统中
git clone https://github.com/ceres-solver/ceres-solver.git
安装依赖
# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
# - If you want to build Ceres as a *static* library (the default)
# you can use the SuiteSparse package in the main Ubuntu package # repository:
sudo apt-get install libsuitesparse-dev
# - However, if you want to build Ceres as a *shared* library, you must
# add the following PPA:
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update & sudo apt-get install libsuitesparse-dev
安装
tar zxf ceres-solver-1.14.0.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-1.14.0
make -j3
make test
# Optionally install Ceres, it can also be exported using CMake which
# allows Ceres to be used without requiring installation, see the documentation
# for the EXPORT_BUILD_DIR option for more information.
make install ( sudo make install)
2.catkin_make 编译
官网下载
# Install wstool and rosdep.
- 1 sudo apt-get update
- 2 sudo apt-get install -y python-wstool python-rosdep ninja-build
# Create a new workspace in 'catkin_ws'.
- 3 mkdir catkin_ws
- 4 cd catkin_ws
- 5 wstool init src
# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
6 wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
7 wstool update -t src
# Install proto3. #在catkin_ws目录下进行
- 8 src/cartographer/scripts/install_proto3.sh
github 直接下载
#注意::未克隆cartographer可以去github克隆
git clone https://github.com/googlecartographer/cartographer.git
git clone https://github.com/googlecartographer/cartographer_ros.git
git clone https://github.com/googlecartographer/cartographer_turtlebot.git
git clone https://github.com/ceres-solver/ceres-solver.git
安装依赖 src目录
# Install deb dependencies.
# The command 'sudo rosdep init' will print an error if you have already
# executed it since installing ROS. This error can be ignored.
- 9 sudo rosdep init
- 10 rosdep update
- 11 rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
编译+安装系统 src目录
# Build and install.
-
12 catkin_make_isolated --install --use-ninja
- 13 source install_isolated/setup.bash
---------------------------------------------------------------------------
方便其他包运行
该部分是个人自加 可以不运行
#为了能够被其他软件包使用请将其安装到ROS系统目录下
1 su root
2 source /opt/ros/kinetic/setup.bash
3 catkin_make_isolated --install --use-ninja -DCMAKE_INSTALL_PREFIX=/opt/ros/kinetic
注意:su root 密码忘记时 sudo passwd 可以重新修改密码
注意:cartographer安装后,安装文件安装到了install_isolated里面 进行cartographer_ros的launch文件修改时,在该文件夹下进行修改,否则不起作用
--------------------------------------------------------------------------------
catkin tools安装+cartographer编译
- 编译:catkin build
- 配置: catkin config
想安装到系统里只需要将安装目录(install)目录配置到系统里 sudo catkin build
--------------------------------------------------------------------------------
安装测试
检测安装是否正确 可以进行运行以下demo测试
测试2D
# Download the 2D backpack example bag.
1 wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
# Launch the 2D backpack demo.
2 roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
测试3D
# Download the 3D backpack example bag.
3 wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag
# Launch the 3D backpack demo.
4 roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag
评论(0)
您还未登录,请登录后发表或查看评论