nkuwenjian / slam_karto_g2o

A ROS package for 2-D pose graph SLAM using open karto package for the front-end and g2o solver for the back-end.

slam_karto_g2o

A ROS package for 2-D pose graph SLAM using open karto package for the front-end and g2o solver for the back-end.

How to use

This package has been tested on Ubuntu 20.04. The version of g2o solver we tested is Release Version 20230223. We start installing g2o solver by installing all the dependencies:

$ sudo apt-get install cmake libeigen3-dev libsuitesparse-dev

We are now ready to build and install g2o solver:

$ tar zxf g2o-20230223_git.tar.gz
$ mkdir g2o-bin
$ cd g2o-bin/
$ cmake ../g2o-20230223_git
$ make -j4
$ sudo make install

After installing g2o solver, please create and initialize a ROS workspace. We assume that your workspace is named catkin_ws. Then, run the following commands to clone and build open karto package:

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ros-perception/open_karto.git
$ cd ../
$ catkin_make -DCMAKE_BUILD_TYPE=Release

After the above preparation, clone and build this package:

$ cd ~/catkin_ws/src/
$ git clone https://github.com/nkuwenjian/slam_karto_g2o.git
$ cd ../
$ catkin_make -DCMAKE_BUILD_TYPE=Release

Finally, run the following commands to launch Karto SLAM:

$ source ~/catkin_ws/devel/setup.bash
$ roslaunch slam_karto_g2o slam_karto_g2o.launch

Open a new terminal and play your rosbag:

$ rosbag play <rosbagfile> --clock

Remarks

The source code of the SLAM back-end in this package refers to the tutorial_slam2d in g2o examples. It is recommended to read this tutorial to learn more about the use of g2o.

slam_karto_g2o's Issues

catkin_make error Ubunto 20.04, Noetic,

hello!
I am having the following error
98%] Building CXX object slam_karto_g2o/CMakeFiles/slam_karto_g2o.dir/src/slam_karto_g2o.cpp.o
[ 98%] Building CXX object slam_karto_g2o/CMakeFiles/slam_karto_g2o.dir/src/g2o_solver.cpp.o
/home/usr/data/ros1_ws/src/slam_karto_g2o/src/slam_karto_g2o.cpp: In member function ‘karto::LaserRangeFinder* SlamKartoG2o::getLaser(const ConstPtr&)’:
/home/usr/data/ros1_ws/src/slam_karto_g2o/src/slam_karto_g2o.cpp:412:37: error: catching polymorphic type ‘tf::TransformException’ {aka ‘class tf2::TransformException’} by value [-Werror=catch-value=]
412 | } catch (tf::TransformException e) {
| ^
/home/usr/data/ros1_ws/src/slam_karto_g2o/src/slam_karto_g2o.cpp: In member function ‘bool SlamKartoG2o::getOdomPose(karto::Pose2*, const ros::Time&)’:
/home/usr/data/ros1_ws/src/slam_karto_g2o/src/slam_karto_g2o.cpp:477:35: error: catching polymorphic type ‘tf::TransformException’ {aka ‘class tf2::TransformException’} by value [-Werror=catch-value=]
477 | } catch (tf::TransformException e) {
| ^
/home/usr/data/ros1_ws/src/slam_karto_g2o/src/slam_karto_g2o.cpp: In member function ‘bool SlamKartoG2o::addScan(karto::LaserRangeFinder*, const ConstPtr&, karto::Pose2*)’:
/home/usr/data/ros1_ws/src/slam_karto_g2o/src/slam_karto_g2o.cpp:638:37: error: catching polymorphic type ‘tf::TransformException’ {aka ‘class tf2::TransformException’} by value [-Werror=catch-value=]
638 | } catch (tf::TransformException e) {
| ^
cc1plus: all warnings being treated as errors
make[2]: *** [slam_karto_g2o/CMakeFiles/slam_karto_g2o.dir/build.make:63: slam_karto_g2o/CMakeFiles/slam_karto_g2o.dir/src/slam_karto_g2o.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:2425: slam_karto_g2o/CMakeFiles/slam_karto_g2o.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j20 -l20" failed

Thanks