Cartographer ROS for Turtlebots 初探

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