[ROS]Cartographer 的初体验

前几天 google 宣布开源了 Cartographer,所以赶紧过来体验一把.

本文的介绍的是 google 开源的 Cartographer 的初体验.

Cartographer 是一个提供多平台和多传感器配置下能够完成 2D 和 3D 下的 SLAM(实时地图构建和定位)的系统.同时 google 也提供了 ROS 下的集成.关于什么是 ROS 参考:http://cpp.pub/articles/2016/08/08/1470651164496.html

###1.安装

Cartographer 运行需要 ubuntu 14.04(Trusty)下的 Indigo 版本或者 ubuntu16.04(Xenial)下的 Kinetic 版本.关于如何安装 ROS 参考:http://cpp.pub/articles/2016/07/19/1468907829652.html

按顺序执行以下语句:

# 安装 wstool and rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

# 创建新的工作空间:'catkin_ws'.
mkdir catkin_ws
cd catkin_ws
wstool init src

# 合并cartographer_ros.rosinstall文件并或者代码的依赖
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src

# 安装依赖
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# 安装
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash
​

###2.运行 demo
执行完 1 中的步骤,就完成了 Cartographer 和 Cartographer 中的 ROS 集成包,下载 google 提供的示例包就可以测试了.
依次执行以下语句:

# 下载2D示例包
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

# 启动测试2D示例
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

# 下载3D示例包
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag

# 启动测试3D示例
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/cartographer_3d_deutsches_museum.bag

# 下载基于Revo LDS平台的示例包
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag

# 启动测试
roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag

# 下载基于PR2平台的示例包
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag

# 启动测试
roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag
​

上面的 launch 文件将会自动启动 roscore 和 rviz.

执行之后就可以看到效果了,运行的结果和 google 提供的一样样,说明本文的目标达到.