63 lines
2.1 KiB
Markdown
63 lines
2.1 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. 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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libwebp-dev \
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protobuf-compiler \
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python-sphinx \
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libblas-dev \
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liblapack-dev \
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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
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git clone https://github.com/ethz-asl/suitesparse.git
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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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