[人工智能]grid_map（二）：ubuntu16.04安装测试grid_map 1.6.0-1.6.2

一、编译安装

??????? 系统ubuntu16.04、ros-kinetic、gird_map 1.6.0-1.6.2。

1.1 官方github

?????? GitHub - ANYbotics/grid_map: Universal grid map library for mobile robotic mappingUniversal grid map library for mobile robotic mapping - GitHub - ANYbotics/grid_map: Universal grid map library for mobile robotic mappinghttps://github.com/ANYbotics/grid_map

???????? ros-kinetic适用grid_map版本：1.6.0--1.6.2

https://github.com/ANYbotics/grid_map/issues/279https://github.com/ANYbotics/grid_map/issues/279

1.2 安装编译

sudo apt-get install ros-kinetic-grid-map

##安装依赖
sudo apt-get install libeigen3-dev

##创建工作空间编译
mkdir -p xxx/grid_map_ws/src
cd grid_map_ws/src
git clone -b 1.6.0 https://github.com/anybotics/grid_map.git

cd ..
catkin_make
#或以Release模式编译
#catkin_make -DCMAKE_BUILD_TYPE=Release 

??????? 使用1.6.0版本的grid_map编译，不会报错。

??????? 下面是按照官方github的readme.md进行编译的一些报错

1.3 编译踩坑

##git clone默认版本，会报错
git clone https://github.com/anybotics/grid_map.git

1.3.1 编译报错----fatal error: filters/filter_base.hpp: 没有那个文件或目录

??????? 相应修改：

grid_map_ws/src/grid_map/grid_map_cv/include/grid_map_cv/InpaintFilter.hpp 的第十行

#include <filters/filter_base.hpp> 为 #include <filters/filter_base.h>

??????? 此外，结合上次经验，还需要修改：

文件夹grid_map_ws/src/grid_map/grid_map_filters/include/grid_map_filters下几乎所有文件

#include <filters/filter_base.hpp>  或  #include <filters/filter_base.h>

文件grid_map_ws/src/grid_map/grid_map_demos/include/grid_map_demos/FiltersDemo.hpp

#include <filters/filter_chain.hpp>  为#include <filters/filter_chain.h>

文件grid_map_ws/src/grid_map/grid_map_demos/src/normal_filter_comparison_node.cpp

#include <filters/filter_chain.hpp> 为 #include <filters/filter_chain.h>

1.3.2 编译报错----error: ‘class rviz::DisplayContext’ has no member named ‘getTF2BufferPtr’

https://github.com/ANYbotics/grid_map/issues/279https://github.com/ANYbotics/grid_map/issues/279??????? 参考上面的链接，说的是grid_map github仓的默认版本为ubuntu18.04的melodic，上面直接git clone 的版本不适用ubuntu16.04的ros-kinetic。参考链接，将原来git clone的删掉，git clone 1.6.0-1.6.2版本的.

git clone -b 1.6.0 https://github.com/anybotics/grid_map.git

1.4 安装测试

??????? 适用catkin_make编译的（我用的）

source devel/setup.bash
catkin_make run_tests_grid_map_core run_tests_grid_map_ros

??????? 测试成功：

???????? 适用catkin tools的

catkin build grid_map --no-deps --verbose --catkin-make-args run_tests

二、应用demo

##进入工作空间，并source一下
cd grid_map_ws/
source devel/setup.bash

2.1 simple demo

  roslaunch grid_map_demos simple_demo.launch

?2.2 tutorial demo

  roslaunch grid_map_demos tutorial_demo.launch

2.3 iterators_demo

  roslaunch grid_map_demos iterators_demo.launch

?2.4 image to gridmap demo

  roslaunch grid_map_demos image_to_gridmap_demo.launch

?2.5 opencv demo

  roslaunch grid_map_demos opencv_demo.launch

?

??????? 视频链接：