在 ros 2如何用gazebo进行cartographer

在 ROS 2 中，可以使用 Gazebo 和 Cartographer 进行仿真和 SLAM。下面是使用 Gazebo 进行 Cartographer 的一些步骤：

1. 安装 Cartographer 和 Gazebo 插件：

sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
mkdir -p ~/cartographer_ws/src
cd ~/cartographer_ws/src
git clone https://github.com/cartographer-project/cartographer.git
git clone https://github.com/cartographer-project/cartographer_ros.git
git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git
cd ~/cartographer_ws
src/cartographer/scripts/install_abseil.sh
src/cartographer/scripts/install_proto3.sh
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=foxy -y

2. 构建和安装 Cartographer 和 Gazebo 插件：

cd ~/cartographer_ws
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash

3. 启动 Gazebo：

export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/cartographer_ws/src/cartographer_ros/cartographer_ros/urdf
export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/cartographer_ws/install/lib
gazebo --verbose ~/cartographer_ws/src/cartographer_ros/cartographer_ros/worlds/demo_gazebo_cartographer.world

4. 启动 Cartographer：

ros2 launch cartographer_ros offline_cartographer.launch.py bag_filenames:=/path/to/bagfile.bag urdf_filename:=~/cartographer_ws/src/cartographer_ros/cartographer_ros/urdf/backpack_2d.urdf.py