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Cartographer-for-SMMR
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Cartographer-for-SMMR
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# Cartographer for Multi-Robot Exploration This is the modified Cartographer from [original](https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html). ## Installation 1. Install Dependency on Ubuntu18.04 ``` sudo apt-get update sudo apt-get install -y python-wstool python-rosdep ninja-build stow ``` 2. After the tools are installed, create a new cartographer_ros workspace in ```catkin_ws```. ``` mkdir -p catkin_ws/src cd catkin_ws/src git clone https://github.com/efc-robot/Cartographer-for-SMMR.git ``` 3. Update the ROS dependencies at the ```catkin_ws```. ``` cd .. #cd to the catkin_ws sudo rosdep init rosdep update rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y ``` 4. Cartographer uses the abseil-cpp library that needs to be manually installed using this script ``` src/cartographer-master/scripts/install_abseil.sh ``` Due to conflicting versions you might need to uninstall the ROS abseil-cpp using ``` sudo apt-get remove ros-${ROS_DISTRO}-abseil-cpp ``` 5. Build and install the ```catkin_ws``` ``` catkin_make_isolated --install ``` 7. Source the ```setup.bash``` to use Cartographer ``` source /PATH/TO/CATKIN_WS/devel_isolated/setup.bash ``` or add the ```source``` to the ```~/.bashrc```. 8. If you have only prolem, you can refer to the original [installation guide](https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html) to install&test the original Cartographer. And just replace the coresponding folders in ```catkin_ws/src/``` with these our provided three folders. And rebuild the Cartographer.
