Cartographer ROS for Turtlebots 初探

Posted 2020-08-15

今天抽了会时间安装了Cartographer  ROS for Turtlebots 

系统版本： Ubuntu 14.04 (Trusty) with ROS Indigo，系统是用的TurtleBot ISO with the following link and create startup USB disk using Startup Disk Creator or similar tools.

• ubuntu-14.04.2-desktop-amd64-turtlebot-RC0.iso, sha512sum 超方便，不用总是去配置turtlebot

1. 安装

安装过程在https://github.com/googlecartographer/cartographer_turtlebot/blob/master/docs/source/index.rst都有详细的描述。

# Install wstool and rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

# Create a new workspace in ‘catkin_ws‘.
mkdir catkin_ws
cd catkin_ws
wstool init src

# Merge the cartographer_turtlebot.rosinstall file and fetch code for dependencies.
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall
wstool update -t src

# Install deb dependencies.
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# Build and install.
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

　　但是问题一般都会处在catkin_make_isolated --install --use-ninja，因为这个时候需要翻一下墙，装个包，FQ的方法我就不多说了我用的是greenvpn，在ubuntu上也很好用，效果很好。

然后就能很顺利的装好。

2 测试

测试包有4GB多，可以通过迅雷下载比较快  https://storage.googleapis.com/cartographer-public-data/bags/turtlebot/cartographer_turtlebot_demo.bag

2D LIDAR demo.
roslaunch cartographer_turtlebot demo_lidar_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

# Launch the 2D depth camera demo.
roslaunch cartographer_turtlebot demo_depth_camera_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

# Launch the 3D depth camera demo.
roslaunch cartographer_turtlebot demo_depth_camera_3d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

　　当然，谷歌的demo跑起来也是很爽的。我做了前两个

接下来，要用Turltebot实际做个实验，还没来得及呢