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配置cartographer环境

适用于Ubuntu16.04和Ubuntu18.04

1. 安装 wstool下载工具、rosdep和ninja编译工具（ninja是一个新型的编译小工具，用来替换复杂的make，从而实现快速编译）

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
sudo apt-get install -y \clang \cmake \g++ \git \google-mock \libboost-all-dev \libcairo2-dev \libcurl4-openssl-dev \libeigen3-dev \libgflags-dev \libgoogle-glog-dev \liblua5.2-dev \libsuitesparse-dev \lsb-release \stow

2. 建立一个wstool下载+ROS基本编译的二合一环境

mkdir cartographer_ws
cd cartographer_ws
wstool init src

3. 下载cartographer,将文件解压到~/cartographer_ws/src

4. 编译protobuf

cd ~/cartographer_ws/src/cartographer/scripts
mkdir build
cd build
cmake -G Ninja \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_BUILD_TYPE=Release \
  -Dprotobuf_BUILD_TESTS=OFF \
  ../cmake
ninja
sudo ninja install

5. 编译

catkin_make_isolated --install --use-ninja

6. 设置环境变量，修改~/.bashrc文件

sudo gedit ~/.bashrc

• 将下面一行内容，添加至最后一行并保存。

source ~/cartographer_ws/install_isolated/setup.bash

7. 运行2D cartographer_paper_deutsches_museum.bag

将下载的bag文件放到~/Downloads路径下

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

ORB_SLAM2安装与配置

1.安装工具

sudo apt-get install git
sudo apt-get install cmake
sudo apt-get install g++ 
sudo apt-get install gcc  

2.安装Pangolin

git clone https://github.com/zzx2GH/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
make -j
sudo make install

3.安装Opencv,下载OpenCV 3.4.1

4.安装Eigen3

sudo apt-get install libeigen3-dev

5.安装ORB-SLAM2（把包git工作区间下）

git clone https://github.com/raulmur/ORB_SLAM2.git

ORB_SLAM2编译

cd ORB_SLAM2
chmod +x build.sh
./build.sh

编译报错，解决方法： 修改Examples/ROS/ORB_SLAM2/文件夹下的CMakeLists.txt文件 修改为：

set(LIBS 
${OpenCV_LIBS} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system
)

保存，重新编译

6.添加环境变量

 sudo  gedit ~/.bashrc
 export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/home/path_to/ORB_SLAM2/Examples/ROS

保存

source ~/.bashrc

7.运行单目SLAM实例

下载数据集

 http://vision.in.tum.de/data/datasets/rgbd-dataset/download