0. 前言

最近群里有些老哥在问cartographer配置的相关问题，将我以前自己记录的文件测试后发现竟然已经失效，其原因在于cartographer官网对程序又进行了一次升级，以前的部分操作已经无法适用，这里在此记录一下。

1. 环境配置（melodic）

安装依赖包

sudo apt-get update

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-melodic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev libpcl-dev pcl-tools automake

首先安装ceres solver

cd ~/Download
git clone https://github.com/Tengyun-Mo/ceres-solver.git
cd ceres-solver
mkdir build
cd build
cmake ..
make -j4
sudo make install

（默认路径为：usr/local/include）

安装protobuf 3.0

git clone https://github.com/google/protobuf.git

cd protobuf

git checkout v3.6.1

mkdir build

./autogen.sh

./configure

make -j2

sudo make install

sudo ldconfig

下面是作者在安装protobuf中遇到的一个问题
在这里插入图片描述

安装 cartographer

git clone https://github.com/googlecartographer/cartographer.git

cd cartographer

mkdir build

cd build

cmake ..

make -j4

sudo make install

如果出现absl找不到的情况：

git clone https://github.com/abseil/abseil-cppmkdir .git

打开abseil-cpp包里的cmakelists添加c++11支持

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS } -std=c++11")

build && cd build
cmake .. -DBUILD_SHARED_LIBS=ON
make
sudo make install

更改cartographer的CMakeList.txt文件（2处）和cartographer-config.cmake.in文件（1处）

CMakeList.txt 第1处：
find_package(Abseil REQUIRED) --> find_package(absl REQUIRED)
CMakeList.txt 第2处：#默认的库文件是 standalone_absl
target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY}
absl::base
absl::synchronization
absl::strings
absl::flat_hash_map
absl::numeric
absl::flags)
然后重新编译即可
cartographer-config.cmake.in 1处：
find_package(Abseil ${QUIET_OR_REQUIRED_OPTION}) Abseil 改为 absl

安装cartographer_ros

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

git clone https://github.com/googlecartographer/cartographer_ros.git

cartographer_ros的CMakeList.txt，2处

cartographer_ros 和 cartographer_rviz的改法均一致：
find_package(Abseil REQUIRED) --> find_package(absl REQUIRED)
然后重新编译即可。

catkin_make

如果出现未定义应用，请注意Ceres和prtobuf 版本，并在Cmakelists里面修改

测试

下载数据包 https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

运行程序 roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}``/Downloads/cartographer_paper_deutsches_museum``.bag

在这里插入图片描述
这里给出网络上的一键安装方法：https://gitee.com/yunxiangluo/Ubuntu_cartographer_script，通过./install.sh即可一键安装。

2. navigation

sudo apt-get install ros-kinetic-serial

sudo apt-get install ros-kinetic-map-server

sudo apt-get install ros-kinetic-amcl

sudo apt-get install ros-kinetic-navigation

实验仿真

catkin_make_isolated —install —use-ninja (编译lua文件信息)

roslaunch mbot_gazebo mecanum_robot_display.launch (gazebo仿真,需要自己写xacro，注意运动方向、transmission、gazebo控件等)

​ 使用urdf_to_graphiz mecanum_robot.urdf来检查

roslaunch cartographer_ros cartographer_demo_smart.launch (cartographer建图，需要自己写lua)

roslaunch mbot_teleop mbot_teleop.launch (控制)

navigation 导航

首先打开上面的程序开始建图，在rviz跑出地图后 然后需要保存地图

​ 不再接受进一步数据

​ rosservice call /finish_trajectory 0

​ 序列化保存其当前状态

​ rosservice call /write_state "{filename: '${HOME}/Downloads/XXX.pbstream'}"

​ 将pbstream转换为pgm和yaml

​ rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${HOME}/Downloads/cartographer_map -pbstream_filename=${HOME}/Downloads/XXX.pbstream -resolution=0.05

请添加图片描述

roslaunch mbot_gazebo mecanum_robot_display.launch 

roslaunch mbot_navigation cartographer_nav_cloister_demo.launch

请添加图片描述