how to cartographer - RocketFlash/PlatoRobot GitHub Wiki

Install Google Cartographer in the same workspace {plato_ws} (standard instruction: http://google-cartographer-ros.readthedocs.io/en/latest/#building-installation, but recommend to use our custom that installs protobuf locally)

bash ~/plato_ws/src/plato/installation_scripts/install_cartographer.sh

NOTE: it installs protoc 3.4.1 and you will get error on cd plato_ws && catkin_make: from /usr/include/gazebo-7/gazebo/msgs/..#error This file was generated by an older version of protoc which is incompatible with your Protocol Buffer headers. Please regenerate this file with a newer version of protoc. It means you have to return protobuf 2.6.1. To do it download release from here, unzip it and do './configure && make && make check && sudo make install' inside.

!!! After installing cartographer you have to use next command to build:

catkin_make_isolated --install --use-ninja -DCATKIN_ENABLE_TESTING=false
source install_isolated/setup.bash

Open two terminal windows

a. In the first

bash ~/plato_ws/src/plato/run_gazebo.sh

b. In the second

roslaunch cartographer_nav cartographer_2d.launch

To control the robot using keyboard open new terminal:

python ~/plato_ws/src/plato/plato_navigation/keyboard_control.py