安装Cartographer依赖

在Ubuntu 20.04上安装Cartographer所需的依赖项，可以使用以下命令：

sudo apt-get install \
    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 \
    ninja-build \
    stow \
    python3-wstool \
    python3-rosdep \
    python3-sphinx \
    libatlas-base-dev
 

安装Abseil库

Abseil库是Cartographer的依赖之一，安装步骤如下：

git clone https://github.com/abseil/abseil-cpp.git
cd abseil-cpp/
git checkout 215105818dfde3174fe799600bb0f3cae233d0bf
mkdir build
cd build/
cmake -G Ninja -DCMAKE_BUILD_TYPE=Release -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl ..
ninja
sudo ninja install
cd /usr/local/stow
sudo stow absl
 

安装Ceres库

Ceres Solver是Cartographer的另一个依赖，安装步骤如下：

git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver/
git checkout 0ffb6db49cec52566f53ab66be7a19970ddc562b
mkdir build
cd build/
cmake ..
make -j8
sudo make install
 

安装Protobuf 3

Protobuf是Cartographer的依赖之一，安装步骤如下：

git clone https://github.com/protocolbuffers/protobuf.git
cd protobuf/
git checkout e73ed1630fdec85d7fb513c166629ed49cd4eb18
./autogen.sh
./configure
make -j8
sudo make install
sudo ldconfig
 

安装Cartographer

安装Cartographer及其ROS接口的步骤如下：

mkdir cartographer
cd cartographer/
mkdir src
cd src/
git clone https://github.com/cartographer-project/cartographer.git
git clone https://github.com/cartographer-project/cartographer_ros.git
cd ..
catkin_make_isolated
 

建图

使用Cartographer进行建图，可以使用以下命令：

Bag公开数据集下载链接，下载完后建图时路径要对（名字修改）

https://google-cartographer-ros.readthedocs.io/en/latest/demos.html

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

保存地图

完成建图后，保存地图的步骤如下：

停止轨迹（关闭建图过程）：

rosservice call /finish_trajectory 0
 

保存 .pbstream 地图文件：

rosservice call /write_state "filename: '/home/ros/Downloads/my_map.pbstream'"
 

将 .pbstream 转换为 .pgm 和 .yaml 文件：

rosrun cartographer_ros cartographer_pbstream_to_ros_map \
  -map_filestem /home/ros/Downloads/my_map \
  -pbstream_filename /home/ros/Downloads/my_map.pbstream \
  -resolution 0.05
 

以上步骤涵盖了在Ubuntu 20.04上安装、编译和使用Cartographer的完整流程。