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.
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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