ROS noetic 安装编译Cartographer踩坑记录

安装编译工具

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

首先来说，python-rosdep已经被废弃了
那么只能换成推荐的

sudo apt-get install python3-rosdep

不过注意，noetic和python3-rosdep有冲突，所以，你在安装中有可能碰到把ros部分组建给卸掉的情况，这时你只能重装（挺快的）

sudo apt install ros-noetic-desktop-full

创建工作空间

mkdir -p ~/ROS_WS/cartographer
cd ~/ROS_WS/cartographer

用wstool拉源码

wstool init src
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall

编辑src目录下的.rosinstall

#鉴于github源码在国内访问较慢，可以使用国内码云仓库，在我的仓库中已经设置为公有
vim ./src/.rosinstall

将文件修改为如下内容：

- git:local-name: cartographeruri: https://gitee.com/moresweet/cartographer.gitversion: master
- git:local-name: cartographer_rosuri: https://gitee.com/moresweet/cartographer_ros.gitversion: master
- git:local-name: ceress-solveruri: https://gitee.com/moresweet/ceres-solver.git

成功后会拉下来三套源码

编译安装

rosdep update
rosdep install ——from-paths src ——ignore-src ——rosdistro=${ROS_DISTRO} -y

可能会出现问题
若rosdep update很慢报错，请参照
https://blog.csdn.net/leida_wt/article/details/115120940?spm=1001.2014.3001.5506
第二条可能会报错

ERROR: Rosdep cannot find all required resources to answer your query
Missing resource ——from-paths
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/opt/ros/noetic/share

这明显是–from-path参数不认识，猜测是python3-rosdep2有了变动，操作不一样了，并且报错是环境变量中的路径找不到，那么直接catkin_make（不需要编译成功，目的是出现devel目录，将此目录环境导入PATH中，当然也可以选择直接更改环境变量的方式）

catkin_make #不管成功与否，只是为了生成devel目录
source devel/setup.bash #这样本功能包的目录就在终端环境中了

此时再执行rosdep install ——from-paths src ——ignore-src ——rosdistro=${ROS_DISTRO} -y会发现

ERROR: Rosdep cannot find all required resources to answer your query
Missing resource ——from-paths
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/moresweet/ROS_WS/cartograher/src
ROS path [2]=/opt/ros/noetic/share

多了一行

我们直接用rosdep在src中安装就可以了

cd src
rosdep install cartographer

一步一步的按y点回车就好了
安装cartographer的依赖（记住这个地方，后面编译出错，可以会来看看是不是确实的东西，这里有，有就装上）

cd cartographer/scripts/
vim install_proto3.sh
#修改github项目地址为https://gitee.com/shenyinsong_admin/protobuf.git
vim install_abseil.sh
#修改github项目地址为https://gitee.com/moresweet/abseil-cpp.git
./install_proto3.sh
./install_abseil.sh

然后回到工作空间，用ninja编译

cd ~/ROS_WS/cartographer
catkin_make_isolated ——install ——use-ninja

如果报错

- Found GMock: gmock_main;-lpthread
CMake Error at CMakeLists.txt:32 (find_package):
By not providing "Findabsl.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "absl", but
CMake did not find one.Could not find a package configuration file provided by "absl" with any of
the following names:abslConfig.cmake
absl-config.cmakeAdd the installation prefix of "absl" to CMAKE_PREFIX_PATH or set
"absl_DIR" to a directory containing one of the above files. If "absl"
provides a separate development package or SDK, be sure it has been
installed.

请确定安装cartographer的依赖那一步install_abseil.sh是否成功安装。

测试运行

下载测试数据集

cd ~
wget https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/cartographer_paper_deutsches_museum.bag

至此，安装成功

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