二进制安装cartographer ros
时间: 2023-10-02 21:12:59 浏览: 150
要在ROS系统中安装Cartographer,可以使用以下命令:
1. 首先添加Cartographer的APT存储库:
```
sudo apt-get install -y curl gnupg2 lsb-release
curl -L https://google-cartographer-ros.s3.amazonaws.com/cartographer_ros.key | sudo apt-key add -
sudo sh -c 'echo "deb https://google-cartographer-ros.s3.amazonaws.com/$(lsb_release -sc) main" > /etc/apt/sources.list.d/cartographer_ros.list'
sudo apt-get update
```
2. 安装Cartographer ROS软件包:
```
sudo apt-get install -y cartographer_ros
```
3. 安装Cartographer ROS的依赖项:
```
sudo apt-get install -y python-wstool python-rosdep ninja-build
sudo rosdep init
rosdep update
```
4. 构建Cartographer ROS:
```
cd ~/catkin_ws/src
wstool init
wstool merge -t . https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t .
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
catkin_make_isolated --install --use-ninja
```
其中,`~/catkin_ws/src`是你的ROS工作空间的源代码目录,`${ROS_DISTRO}`是你所使用的ROS发行版。
完成上述步骤后,就可以在ROS系统中使用Cartographer了。
阅读全文
相关推荐

















