首页在melodic上cartographer安装

在melodic上cartographer安装

时间: 2023-10-02 19:13:02 浏览: 120

在ROS Melodic中安装Cartographer需要进行以下步骤： 1. 安装依赖项： ``` sudo apt-get update sudo apt-get install -y protobuf-compiler libprotobuf-dev libboost-all-dev libcairo2-dev libpcl-dev ``` 2. 安装Cartographer： ``` sudo apt-get update sudo apt-get install -y ros-melodic-cartographer ros-melodic-cartographer-ros ``` 3. 安装Cartographer ROS扩展包： ``` sudo apt-get update sudo apt-get install -y ros-melodic-cartographer-ros-msgs ros-melodic-cartographer-rviz ``` 4. 编译Cartographer： ``` cd ~/catkin_ws/src git clone https://github.com/googlecartographer/cartographer.git cd cartographer git checkout stable git submodule update --init --recursive ``` 在catkin工作区中编译Cartographer： ``` cd ~/catkin_ws catkin_make_isolated --install --use-ninja ``` 5. 配置ROS环境变量： ``` echo "source ~/catkin_ws/install_isolated/setup.bash" >> ~/.bashrc source ~/.bashrc ``` 6. 测试Cartographer： ``` roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=PATH_TO_YOUR.bag ``` 其中，`PATH_TO_YOUR.bag`是你的ROS bag文件路径。安装完成后，你可以使用Cartographer进行SLAM和建图。

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