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
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: cartographer uri: https://gitee.com/moresweet/cartographer.git version: master - git: local-name: cartographer_ros uri: https://gitee.com/moresweet/cartographer_ros.git version: master - git: local-name: ceress-solver uri: 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.cmake Add 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
