{"id":118,"date":"2023-01-27T14:28:56","date_gmt":"2023-01-27T05:28:56","guid":{"rendered":"https:\/\/ahnbk.dev\/?p=118"},"modified":"2023-01-28T22:25:53","modified_gmt":"2023-01-28T13:25:53","slug":"install-cartographer-ros-on-noetic-ubuntu20-04","status":"publish","type":"post","link":"https:\/\/ahnbk.dev\/?p=118","title":{"rendered":"Install Cartographer ROS on Noetic\/Ubuntu20.04"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">Noetic\uc5d0\uc120 Cartogrphaer\uc758 \ud328\ud0a4\uc9c0 \ubc84\uc804\uc744 \uc81c\uacf5\ud558\uc9c0 \uc54a\uace0 \uc788\ub2e4. \uc65c\uc778\uc774 \uc774\uc720\ub294 \uc798 \ubaa8\ub974\uaca0\uc9c0\ub9cc, \uc77c\ub2e8 Noetic\uc5d0\uc11c Cartographer\ub97c \uc0ac\uc6a9\ud558\uae30 \uc704\ud574\uc120 \uc18c\uc2a4\ub97c \uc9c1\uc811 \ube4c\ub4dc\ud558\uc5ec \uc0ac\uc6a9\ud574\uc57c \ud55c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ube4c\ub4dc\ud558\uae30 \uc704\ud574\uc11c \ud544\uc694\ud55c \ud234\uc744 \uba3c\uc800 \uc124\uce58\ud55c\ub2e4.<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub2e4\uc74c\uc73c\ub85c, \uc0ac\uc6a9\uc790 workspace\uc5d0 \uc18c\uc2a4\ub97c \ubc1b\ub294\ub2e4.<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ cd ~\/catkin_ws\/src\n$ mkdir cartographer\n$ cd cartographer\n$ git clone https:\/\/github.com\/cartographer-project\/cartographer.git\n$ git clone https:\/\/github.com\/cartographer-project\/cartographer_ros.git<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ud328\ud0a4\uc9c0 \ube4c\ub4dc\ub97c \uc704\ud574 \ud544\uc694\ud55c \uc758\uc874 \ud328\ud0a4\uc9c0\ub4e4\uc744 \uc124\uce58\ud55c\ub2e4.<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ rosdep install --from-paths . --ignore-src -r -y<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub2e4\uc74c\uc73c\ub85c abseil\ub97c \uc124\uce58\ud55c\ub2e4. \uc124\uce58 \uc2a4\ud06c\ub9bd\ud2f0\ub294 \uc774\ubbf8 \uc18c\uc2a4\uc5d0 \ud3ec\ud568\ub418\uc5b4 \uc788\uc73c\ubbc0\ub85c, \ud574\ub2f9 \uacbd\ub85c\ub85c \uc774\ub3d9\ud574 \uc2a4\ud06c\ub9bd\ud2b8\ub97c \uc2e4\ud589\ud574\uc8fc\uba74 \ub41c\ub2e4.<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ cd catrographer\/scripts\n$ .\/install_abseil.sh<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub9c8\uc9c0\ub9c9\uc73c\ub85c, cartographer_ros \ud328\ud0a4\uc9c0\ub97c \ube4c\ub4dc\ud574\uc900\ub2e4.<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ cd ~\/catkin_ws\n$ catkin build<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774\uc81c \uc0ac\uc6a9\ud558\uba74 \ub428.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Noetic\uc5d0\uc120 Cartogrphaer\uc758 \ud328\ud0a4\uc9c0 \ubc84\uc804\uc744 \uc81c\uacf5\ud558\uc9c0 \uc54a\uace0 \uc788\ub2e4. \uc65c\uc778\uc774 \uc774\uc720\ub294 \uc798 \ubaa8\ub974\uaca0\uc9c0\ub9cc, \uc77c\ub2e8 Noetic\uc5d0\uc11c Cartographer\ub97c \uc0ac\uc6a9\ud558\uae30 \uc704\ud574\uc120 \uc18c\uc2a4\ub97c \uc9c1\uc811 \ube4c\ub4dc\ud558\uc5ec \uc0ac\uc6a9\ud574\uc57c \ud55c\ub2e4. \ube4c\ub4dc\ud558\uae30 \uc704\ud574\uc11c \ud544\uc694\ud55c \ud234\uc744 \uba3c\uc800 \uc124\uce58\ud55c\ub2e4. \ub2e4\uc74c\uc73c\ub85c, \uc0ac\uc6a9\uc790 workspace\uc5d0 \uc18c\uc2a4\ub97c \ubc1b\ub294\ub2e4. \ud328\ud0a4\uc9c0 \ube4c\ub4dc\ub97c \uc704\ud574 \ud544\uc694\ud55c \uc758\uc874 \ud328\ud0a4\uc9c0\ub4e4\uc744 \uc124\uce58\ud55c\ub2e4. \ub2e4\uc74c\uc73c\ub85c abseil\ub97c \uc124\uce58\ud55c\ub2e4. \uc124\uce58 \uc2a4\ud06c\ub9bd\ud2f0\ub294 \uc774\ubbf8 \uc18c\uc2a4\uc5d0 \ud3ec\ud568\ub418\uc5b4 \uc788\uc73c\ubbc0\ub85c, \ud574\ub2f9 \uacbd\ub85c\ub85c \uc774\ub3d9\ud574 \uc2a4\ud06c\ub9bd\ud2b8\ub97c \uc2e4\ud589\ud574\uc8fc\uba74 \ub41c\ub2e4. \ub9c8\uc9c0\ub9c9\uc73c\ub85c, [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[24],"tags":[23,21,22,20,19],"class_list":["post-118","post","type-post","status-publish","format-standard","hentry","category-ros1","tag-abseil","tag-cartographer","tag-cartographer_ros","tag-noetic","tag-ros"],"_links":{"self":[{"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/posts\/118","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=118"}],"version-history":[{"count":1,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/posts\/118\/revisions"}],"predecessor-version":[{"id":119,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/posts\/118\/revisions\/119"}],"wp:attachment":[{"href":"https:\/\/ahnbk.dev\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=118"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=118"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=118"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}