61 lines
2.3 KiB
Markdown
61 lines
2.3 KiB
Markdown
# Cartographer Project Overview
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See https://github.com/googlecartographer/cartographer
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## Installation
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Installation has been tested on Ubuntu 14.04 (Trusty) with ROS Indigo and on Ubuntu 16.04 (Xenial) with ROS Kinetic. For ROS Kinetic, simply replace the two occurrences of "indigo" with "kinetic" in the instructions below. There are multiple options for building cartographer_ros as part of a ROS workspace. Two common use cases are described below.
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These dependencies always have to be installed:
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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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### Standalone Workspace
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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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If cartographer_ros is to be used as part of a pre-existing workspace/existing project, using [wstool](http://wiki.ros.org/wstool) is recommended.
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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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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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