Compiling Cartographer ROS¶
System Requirements¶
The Cartographer ROS requirements are the same as the ones from Cartographer.
The following ROS distributions are currently supported:
- Melodic
- Noetic
Building & Installation¶
In order to build Cartographer ROS, we recommend using wstool and rosdep. For faster builds, we also recommend using Ninja.
On Ubuntu Focal with ROS Noetic use these commands to install the above tools:
sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
On older distributions:
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build stow
After the tools are installed, create a new cartographer_ros workspace in ‘catkin_ws’.
mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
Now you need to install cartographer_ros’ dependencies.
First, we use rosdep
to install the required packages.
The command ‘sudo rosdep init’ will print an error if you have already executed it since installing ROS. This error can be ignored.
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
Cartographer uses the abseil-cpp library that needs to be manually installed using this script:
src/cartographer/scripts/install_abseil.sh
Due to conflicting versions you might need to uninstall the ROS abseil-cpp using
sudo apt-get remove ros-${ROS_DISTRO}-abseil-cpp
Build and install.
catkin_make_isolated --install --use-ninja
This builds Cartographer from the latest HEAD of the master branch. If you want a specific version, you need to change the version in the cartographer_ros.rosinstall.