Improved documentation of cartographer_ros. (#36)
Use wstool and rosdep to fetch dependencies.master
Wolfgang Hess
GitHub
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58f9b48341
commit
5bf03a929c
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@ -25,8 +25,8 @@ Purpose
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and mapping `SLAM`_ across multiple platforms and sensor configurations. This
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project provides Cartographer's ROS integration.
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.. _Cartographer: http://www.github.com/googlecartographer/cartographer
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.. _SLAM: http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
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.. _Cartographer: https://github.com/googlecartographer/cartographer
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.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
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Documentation
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=============
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@ -1,31 +0,0 @@
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.. Copyright 2016 The Cartographer Authors
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.. Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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.. http://www.apache.org/licenses/LICENSE-2.0
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.. Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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=====================
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Cartographer ROS Demo
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=====================
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First, follow the installation instructions in the :ref:`getting-started` section.
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Now that Cartographer and Cartographer's ROS integration are installed,
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download the example bag, a 2D backpack collection of the `Deutsches Museum
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<https://en.wikipedia.org/wiki/Deutsches_Museum>`_, to a known location, in
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this case ``~/Downloads``, and use ``roslaunch`` to bring up the demo:
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.. code-block:: bash
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
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roslaunch cartographer_ros demo_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
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The launch file will bring up ``roscore`` and ``rviz`` automatically.
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@ -20,84 +20,59 @@ Cartographer ROS Integration
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:maxdepth: 2
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:hidden:
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demo
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`Cartographer`_ is a system that provides real-time simultaneous localization
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and mapping `SLAM`_ across multiple platforms and sensor configurations. This
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project provides Cartographer's ROS integration.
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.. _Cartographer: https://github.com/googlecartographer/cartographer
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.. _SLAM: http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
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.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
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.. _getting-started:
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Getting Started
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===============
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Building & Installation
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=======================
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Installation has been tested on Ubuntu 14.04 (Trusty) with ROS Indigo and on
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Ubuntu 16.04 (Xenial) with ROS Kinetic. For ROS Kinetic, simply replace the two
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occurrences of "indigo" with "kinetic" in the instructions below. There are
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multiple options for building cartographer_ros as part of a ROS workspace. Two
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common use cases are described below.
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These dependencies always have to be installed:
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Installation has been tested on Ubuntu 14.04 (Trusty) with ROS Indigo, but may
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also work on Ubuntu 16.04 (Xenial) with ROS Kinetic. We recommend using
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`wstool <http://wiki.ros.org/wstool>`_ and
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`rosdep <http://wiki.ros.org/rosdep>`_. For faster builds, we also recommend
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using `Ninja <https://ninja-build.org>`_.
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.. code-block:: bash
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# Install the required libraries that are available as debs
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sudo apt-get install \
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ros-indigo-tf2-eigen \
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g++ \
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google-mock \
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libboost-all-dev \
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liblua5.2-dev \
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libprotobuf-dev \
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libsuitesparse-dev \
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libwebp-dev \
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protobuf-compiler \
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python-sphinx \
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libpcap-dev # For 3D SLAM with Velodynes
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# Install wstool and rosdep.
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sudo apt-get update
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sudo apt-get install -y python-wstool python-rosdep ninja-build
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Standalone Workspace
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--------------------
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# Create a new workspace in 'catkin_ws'.
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mkdir catkin_ws
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cd catkin_ws
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wstool init
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.. code-block:: bash
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# Set up your Catkin workspace
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mkdir -p ~/catkin_ws/src
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cd ~/catkin_ws/src
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source /opt/ros/indigo/setup.bash
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catkin_init_workspace
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# Clone the necessary repos into your Catkin workspace
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git clone https://github.com/googlecartographer/cartographer.git
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git clone https://github.com/googlecartographer/cartographer_ros.git
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git clone https://github.com/ethz-asl/ceres_catkin.git # Caution! Make sure you do not have "suitesparse" in your Catkin workspace
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git clone https://github.com/ethz-asl/glog_catkin.git
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git clone https://github.com/ethz-asl/gflags_catkin.git
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git clone https://github.com/ethz-asl/catkin_simple.git
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git clone https://github.com/ros-drivers/velodyne.git # For 3D SLAM with Velodynes
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# Build everything in your Catkin workspace
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cd ~/catkin_ws
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catkin_make_isolated
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source devel_isolated/setup.bash
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Using wstool
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------------
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If ``cartographer_ros`` is to be used as part of a pre-existing
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workspace/existing project, using `wstool <http://wiki.ros.org/wstool>`_ is
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recommended.
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.. code-block:: bash
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# Enter workspace root (i.e. the folder that has "src" as a subfolder)
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# Merge the cartographer_ros rosinstall file
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# Merge the cartographer_ros rosinstall file and fetch code for dependencies.
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wstool merge https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
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# Update workspace
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wstool update
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# Build workspace contents. It is recommended to use catkin tools:
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catkin build
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# Install deb dependencies.
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sudo apt-get install -y libwebp-dev # TODO(whess): Move to rosdep.
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rosdep update
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rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
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# Build and install.
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catkin_make_isolated --install --use-ninja
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source install_isolated/setup.bash
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Running the demo
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================
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Now that Cartographer and Cartographer's ROS integration are installed,
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download the example bag, a 2D backpack collection of the `Deutsches Museum
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<https://en.wikipedia.org/wiki/Deutsches_Museum>`_, to a known location, in
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this case ``~/Downloads``, and use ``roslaunch`` to bring up the demo:
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.. code-block:: bash
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
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roslaunch cartographer_ros demo_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
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The launch file will bring up ``roscore`` and ``rviz`` automatically.
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