feat(slam): add cartographer_ros

2025-07-04 14:39:48 +08:00
parent df9cee5779
commit 5cf886315d
825 changed files with 92220 additions and 0 deletions
@@ -0,0 +1,97 @@
+.. Copyright 2018 The Cartographer Authors
+
+.. Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+..      http://www.apache.org/licenses/LICENSE-2.0
+
+.. Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+==========================
+Compiling Cartographer ROS
+==========================
+
+System Requirements
+===================
+
+The Cartographer ROS requirements are the same as `the ones from Cartographer`_.
+
+The following `ROS distributions`_ are currently supported:
+
+* Kinetic
+* Melodic
+* Noetic
+
+.. _the ones from Cartographer: https://google-cartographer.readthedocs.io/en/latest/#system-requirements
+.. _ROS distributions: http://wiki.ros.org/Distributions
+
+Building & Installation
+=======================
+
+In order to build Cartographer ROS, we recommend using `wstool <http://wiki.ros.org/wstool>`_ and `rosdep
+<http://wiki.ros.org/rosdep>`_. For faster builds, we also recommend using
+`Ninja <https://ninja-build.org>`_.
+
+On Ubuntu Focal with ROS Noetic use these commands to install the above tools:
+
+.. code-block:: bash
+
+    sudo apt-get update
+    sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
+
+On older distributions:
+
+.. code-block:: bash
+
+    sudo apt-get update
+    sudo apt-get install -y python-wstool python-rosdep ninja-build stow
+
+After the tools are installed, create a new cartographer_ros workspace in 'catkin_ws'.
+
+.. code-block:: bash
+
+    mkdir catkin_ws
+    cd catkin_ws
+    wstool init src
+    wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
+    wstool update -t src
+
+Now you need to install cartographer_ros' dependencies.
+First, we use ``rosdep`` to install the required packages.
+The command 'sudo rosdep init' will print an error if you have already executed it since installing ROS. This error can be ignored.
+
+.. code-block:: bash
+
+    sudo rosdep init
+    rosdep update
+    rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
+
+    # Only on Ubuntu 16 / ROS Kinetic: src/cartographer/scripts/install_proto3.sh 
+
+Cartographer uses the `abseil-cpp`_ library that needs to be manually installed using this script:
+
+.. code-block:: bash
+
+    src/cartographer/scripts/install_abseil.sh 
+
+Due to conflicting versions you might need to uninstall the ROS abseil-cpp using
+
+.. code-block:: bash
+
+   sudo apt-get remove ros-${ROS_DISTRO}-abseil-cpp 
+
+Build and install.
+
+.. code-block:: bash
+
+    catkin_make_isolated --install --use-ninja
+
+This builds Cartographer from the latest HEAD of the master branch.
+If you want a specific version, you need to change the version in the cartographer_ros.rosinstall.
+
+.. _abseil-cpp: https://abseil.io/