# Turtlebot2_cartographer

**Repository Path**: niceryes/Turtlebot2_cartographer

## Basic Information

- **Project Name**: Turtlebot2_cartographer
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 4
- **Created**: 2021-12-16
- **Last Updated**: 2021-12-16

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Turtlebot2 部署cartographer日志

## 日志

```
# 添加ros源
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

# 添加公钥
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

# 更新源
sudo apt update

# 安装ros melodic
sudo apt install ros-melodic-desktop-full

# 刷新ros环境变量

echo 'source /opt/ros/melodic/setup.bash' > ~/.bashrc
source ~/.bashrc

# 启动roscore，测试安装成功

roscore

# 安装ros工具

sudo apt-get install -y python-wstool python-rosdep ninja-build

# 创建工作空间

mkdir cartographer_ws
cd cartographer_ws/
wstool init src

# 下载cartographer源码

wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall

wstool update -t src

# 安装cartographer

src/cartographer/scripts/install_proto3.sh
   
# 安装git

sudo apt install git

# 安装文件管理工具，可省略

sudo apt install nautilus

# 修改hosts，翻墙

sudo vim /etc/hosts

# 配置.bashrc，添加主从配置和工作空间devel/setup.bash

vim ~/.bashrc

# 创建工作空间

# mkdir catkin_ws

mkdir cartographer_ws

cd cartographer_ws

# rosdep初始化

sudo rosdep init

rosdep update

cd cartographer_ws

cd src

cd cartographer_ros

cd cartographer_rviz

cd cartographer_ws

# 安装依赖

rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# 下载源码

wstool update -t src

# 安装依赖

rosdep install --from-paths src --ignore-src --rosdistro=melodic -y -i -r

# 编译

catkin_make_isolated --install --use-ninja -j1

# 安装apt-file查找缺失的.so依赖

sudo apt install apt-file

apt-file search /usr/lib/aarch64-linux-gnu/libGL.so

# 安装libglvnd-dev
sudo apt install libglvnd-dev

# 重新编译
catkin_make_isolated --install --use-ninja -j1

# 刷新工作空间环境变量

source install_isolated/setup.bash 

# 修改.bashrc，添加工作空间.bashrc

vim ~/.bashrc
source ~/.bashrc

# 测试cartographer运行bag包

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

# 安装性能测试工具

pip install psrecord

sudo apt install python3-pip

pip3 install psrecord

pip3 install python-matplotlib python-tk

sudo apt-get install python-matplotlib python-tk # for plotting; or via pip
  
sudo apt install python-pip

pip install psrecord

# 测试

psrecord $(pgrep chromium-browse) --interval 1 --plot plot1.png

psrecord 1330 --plot plot.png

# 安装pytest

pip install pytest

pytest psrecord

sudo apt install python-psrecord

# 启动turtlebot
roslaunch turtlebot_bringup minimal.launch 

ls /dev/ | grep -i "usb"

# 编译laser

cd laser_ws/

catkin_make

source devel/setup.bash 

# 启动键盘控制
roslaunch turtlebot_teleop keyboard_teleop.launch 

# 修改minimal.launch

vim minimal.launch 

# 修改backpack_2d.launch
roscd cartographer_ros/launch/

cp backpack_2d.launch backpack_2d.launch.bak
vim demo_backpack_2d.launch
vim backpack_2d.launch

rostopic echo --noarr /scan

# 启动 rviz
rosrun rviz rviz

# 刷新laser环境变量

cd laser_ws/
catkin_make
source devel/setup.bash 

# 启动laser

roslaunch LS01B ls01b_v2.launch

# 修改usb设备权限

sudo chmod 777 /dev/ttyUSB0 

cd laser_ws/

source devel/setup.bash

roslaunch ls01b_v2 ls01b_v2.launch 

# 启动my_robot.launch

roslaunch cartographer_ros my_robot.launch 

# 修改配置文件

cd configuration_files

vim my_robot.lua 

# 启动my_robot.launch
roslaunch cartographer_ros my_robot.launch 

# 查看rqt_tf_tree
rosrun rqt_tf_tree rqt_tf_tree 
```

关闭桌面

```bash
sudo systemctl disable lightdm.service
```

启动桌面

```
sudo systemctl start lightdm.service
```

测试步骤
1. 启动机器人
2. 启动雷达
3. 启动cartographer

问题二进制安装的ros和~/laser_ws/工作空间有冲突

```bash
#! /bin/bash
rosnode kill -a
source ~/.bashrc
nohup roslaunch turtlebot_bringup  minimal.launch &
sleep 5
#source ~/laser_ws/devel/setup.bash
#nohup roslaunch ls01b_v2 ls01b_v2.launch &
source ~/laser_ws/devel/setup.bash
```

5. 启动rviz
6. 控制小车移动
7. 转换地图
```bash
#!/bin/bash

Path=$(pwd)
rosservice call /finish_trajectory 0
rosservice call /write_state "{filename: '${Path}/map.pbstream'}"

rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${Path}/map -pbstream_filename=${Path}/map.pbstream -resolution=0.05
```