For the most up to date instructions, please refer to the official google cartographer documentation.
RSS 2023 Students use this ^^^ and read this note:
If you get an error saying tf2-eigen not found or similar for a different library, use the command: sudo apt install ros-melodic-[library name]. In this case, ros-melodic-tf2-eigen
If cartographer is not already installed, install cartographer:
# Install ninja
sudo apt-get install ninja-build python-wstool python-rosdep
# Make a workspace for cartographer
mkdir ~/cartographer_ws
cd ~/cartographer_ws
wstool init src
# Fetch cartographer_ros
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
# Install proto3
src/cartographer/scripts/install_proto3.sh
# Install deb dependencies
sudo apt-get update
sudo rosdep init
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
Then add this to your ~/.bashrc
source ~/cartographer_ws/install_isolated/setup.bash
Clone this repo into your racecar_ws (not your cartographer_ws!) and catkin_make
cd ~/racecar_ws/src
git clone https://github.com/mit-rss/cartographer_config.git
cd ~/racecar_ws
catkin_make
source devel/setup.bash
To run cartographer on the car, simply run:
roslaunch cartographer_config cartographer.launch
To run cartographer in the simulator first change the broadcast_transform parameter in the simulator's params.yaml file to `false:
broadcast_transform: false
This prevents a clash between the ground truth transform published by the simulator and the estimated transform published by cartographer. Then run cartographer like this:
roslaunch cartographer_config cartographer_simulated.launch