cartographer for ROS 2.
| 文件 | 最后提交记录 | 最后更新时间 |
|---|---|---|
| 3 年前 | ||
| 3 年前 | ||
| 3 年前 | ||
| 3 年前 | ||
| 3 年前 |
ros2_cartographer
介绍
cartographer for ROS 2.
软件架构
软件架构说明
https://github.com/ros2/cartographer.git 文件内容:
./
├── AUTHORS
├── bazel
│ ├── repositories.bzl
│ └── third_party
├── BUILD.bazel
├── cartographer
│ ├── BUILD.bazel
│ ├── cloud
│ ├── common
│ ├── ground_truth
│ ├── io
│ ├── mapping
│ ├── metrics
│ ├── sensor
│ └── transform
├── cartographer-config.cmake.in
├── CHANGELOG.rst
├── cmake
│ ├── functions.cmake
│ └── modules
├── CMakeLists.txt
├── configuration_files
│ ├── map_builder.lua
│ ├── map_builder_server.lua
│ ├── pose_graph.lua
│ ├── trajectory_builder_2d.lua
│ ├── trajectory_builder_3d.lua
│ └── trajectory_builder.lua
├── CONTRIBUTING.md
├── Dockerfile.jessie
├── Dockerfile.stretch
├── Dockerfile.trusty
├── Dockerfile.trusty.bazel
├── Dockerfile.xenial
├── docs
│ ├── assets
│ ├── CMakeLists.txt
│ └── source
├── LICENSE
├── package.xml
├── README.rst
├── RELEASING.rst
├── scripts
│ ├── build_test_asan.sh
│ ├── install_async_grpc.sh
│ ├── install_cartographer_bazel.sh
│ ├── install_cartographer_cmake.sh
│ ├── install_cartographer_cmake_with_grpc.sh
│ ├── install_ceres.sh
│ ├── install_debs_bazel.sh
│ ├── install_debs_cmake.sh
│ ├── install_grpc.sh
│ ├── install_prometheus_cpp.sh
│ ├── install_proto3.sh
│ ├── load_docker_cache.sh
│ ├── save_docker_cache.sh
│ └── update_configuration_doc.py
├── tools
│ └── bazel.rc
└── WORKSPACE
安装教程
- 下载RPM包
aarch64:
wget https://117.78.1.88/build/home:Chenjy4/openEuler_23.03_standard_86_64/aarch64/cartographer/ros-foxy-ros-cartographer-1.0.9001-1.oe2203.aarch64.rpm
x86_64:
wget https://117.78.1.88/build/home:Chenjy4/openEuler_23.03_standard_x86_64/x86_64/cartographer/ros-foxy-ros-cartographer-1.0.9001-1.oe2203.x86_64.rpm
- 安装rpm包
aarch64:
sudo rpm -ivh --nodeps --force ros-foxy-ros-cartographer-1.0.9001-1.oe2203.aarch64.rpm
x86_64:
sudo rpm -ivh --nodeps --force ros-foxy-ros-cartographer-1.0.9001-1.oe2203.x86_64.rpm
使用说明
依赖环境安装:
sh /opt/ros/foxy/install_dependence.sh
安装完成以后，在/opt/ros/foxy/目录下有如下输出,则表示安装成功。
输出:
./
|-- COLCON_IGNORE
|-- _local_setup_util_ps1.py
|-- _local_setup_util_sh.py
|-- bin
|-- cmake
|-- include
|-- lib
|-- lib64
|-- local_setup.bash
|-- local_setup.ps1
|-- local_setup.sh
|-- local_setup.zsh
|-- setup.bash
|-- setup.ps1
|-- setup.sh
|-- setup.zsh
|-- share
`-- src
参与贡献
- Fork 本仓库
- 新建 Feat_xxx 分支
- 提交代码
- 新建 Pull Request
特技
- 使用 Readme_XXX.md 来支持不同的语言，例如 Readme_en.md, Readme_zh.md
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