ros melodic安装cartographer
时间: 2023-04-30 18:05:28 浏览: 83
如何安装ROS Melodic的Cartographer?
安装步骤见官方文档:https://google-cartographer-ros.readthedocs.io/en/latest/
简单来说,需要安装Cartographer和Cartographer ROS:
1. 首先安装Cartographer:
```
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
src/cartographer/scripts/install_abseil.sh
src/cartographer/scripts/install_proto3.sh
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
sudo pip install packaging
catkin_make_isolated --install --use-ninja
```
2. 安装Cartographer ROS:
```
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
src/cartographer/scripts/install_abseil.sh
src/cartographer/scripts/install_proto3.sh
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
sudo pip install packaging
catkin_make_isolated --install --use-ninja
```
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