Cartographer for Multi-Robot Exploration

This is the modified Cartographer from original.

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
   

6. Source the setup.bash to use Cartographer

   source /PATH/TO/CATKIN_WS/devel_isolated/setup.bash
   

   or add the source to the ~/.bashrc.

7. If you have only prolem, you can refer to the original installation guide 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.