feat: 更新cartographer安装 (#47)

* 维护cartographer安装脚本 * 维护cartographer安装脚本 * 维护cartographer安装脚本 --------- Co-authored-by: Catalpa <[email protected]>
fishros · Jan 26, 2024 · 17dd821 · 17dd821
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Showing 3 changed files with 6 additions and 11 deletions.
diff --git a/README.md b/README.md
@@ -14,7 +14,7 @@
 - 一键配置:ROS环境(快速更新ROS环境设置,自动生成环境选择)  [贡献@小鱼](https://github.com/fishros)
 - 一键配置:系统源(更换系统源,支持全版本Ubuntu系统)  [贡献@小鱼](https://github.com/fishros)
 - 一键安装:Docker(支持amd64和arm64)  [贡献@alyssa](https://github.com/alyssa1024)
-- 一键安装:cartographer  [贡献@小鱼&Catalpa ](https://github.com/fishros)
+- 一键安装:cartographer 贡献 [@小鱼](https://github.com/fishros) & [@Catalpa](https://github.com/Y-zi)
 - 一键安装:微信客户端  [贡献@小鱼](https://github.com/fishros)
 
 

diff --git a/install.py b/install.py
@@ -26,7 +26,7 @@
     6: {'tip':'一键安装:NodeJS环境',      'type':INSTALL_SOFTWARE,     'tool':url_prefix+'tools/tool_install_nodejs.py' ,'dep':[] },
     7: {'tip':'一键安装:VsCode开发工具',      'type':INSTALL_SOFTWARE,     'tool':url_prefix+'tools/tool_install_vscode.py' ,'dep':[] },
     8: {'tip':'一键安装:Docker',      'type':INSTALL_SOFTWARE,     'tool':url_prefix+'tools/tool_install_docker.py' ,'dep':[] },
-    9: {'tip':'一键安装:Cartographer(内测版易失败)',      'type':INSTALL_ROS,     'tool':url_prefix+'tools/tool_install_cartographer.py' ,'dep':[3] },
+    9: {'tip':'一键安装:Cartographer(18 20测试通过,16未测. updateTime 20240125)',      'type':INSTALL_ROS,     'tool':url_prefix+'tools/tool_install_cartographer.py' ,'dep':[3] },
     10: {'tip':'一键安装:微信(可以在Linux上使用的微信)',      'type':INSTALL_SOFTWARE,     'tool':url_prefix+'tools/tool_install_wechat.py' ,'dep':[8] },
     21: {'tip':'一键安装:ROS Docker版(支持所有版本ROS/ROS2)',                'type':INSTALL_ROS,    'tool':url_prefix+'tools/tool_install_ros_with_docker.py' ,'dep':[7,8] },
     12: {'tip':'一键安装:PlateformIO MicroROS开发环境(支持Fishbot)',      'type':INSTALL_SOFTWARE,     'tool':url_prefix+'tools/tool_install_micros_fishbot_env.py' ,'dep':[] },

diff --git a/tools/tool_install_cartographer.py b/tools/tool_install_cartographer.py
@@ -9,7 +9,7 @@ class Tool(BaseTool):
     def __init__(self):
         self.name = "一键安装Cartographer"
         self.type = BaseTool.TYPE_INSTALL
-        self.autor = '众筹'
+        self.autor = 'catalpa'
 
     def get_sys_default_ros_version(self):
         if osversion.get_version().find('18')>=0:
@@ -40,19 +40,14 @@ def install_docker(self):
         CmdTask('git clone https://gitee.com/yuzi99url/cartographer_ros.git',path='cartographer_ws/src').run()
         CmdTask('git clone https://gitee.com/yuzi99url/cartographer.git',path='cartographer_ws/src').run()
         # 3
-        run_tool_file('tools.tool_config_rosdep')
-        CmdTask('rosdepc update --include-eol-distros').run()
-        CmdTask('rosdepc install --from-paths src --ignore-src --rosdistro={} -y'.format(ros_version),path='cartographer_ws').run()
+        CmdTask("sudo apt-get install libamd2 libatlas3-base libbtf1 libcamd2 libccolamd2 libceres-dev libceres1 libcholmod3 libcxsparse3 libgflags-dev libgflags2.2 libgoogle-glog-dev libgoogle-glog0v5 libklu1 libldl2 liblua5.2-0 liblua5.2-dev libmetis5 libncurses5 libncursesw5 librbio2 libreadline-dev libspqr2 libsuitesparse-dev libtinfo-dev libtinfo5 libtool-bin libumfpack5 -y").run()
+        if ros_version == "melodic":
+            CmdTask('sudo apt-get libgraphblas1 -y').run()
         # 4
         CmdTask("sudo apt-get remove ros-{}-abseil-cpp -y".format(ros_version)).run()
         FileUtils.find_replace("cartographer_ws/src/cartographer/scripts/install_abseil.sh", "https://github.com/abseil/abseil-cpp.git", "https://gitee.com/yuzi99url/abseil-cpp.git")
         CmdTask('bash src/cartographer/scripts/install_abseil.sh',path='cartographer_ws').run()
         # 5
-        CmdTask("sudo mv /usr/bin/protoc /usr/bin/protoc.bk").run()
-        CmdTask("sudo ln -s /usr/local/bin/protoc /usr/bin/protoc").run()
-        FileUtils.find_replace("cartographer_ws/src/cartographer/scripts/install_proto3.sh", "https://github.com/google/protobuf.git", "https://gitee.com/yuzi99url/protobuf.git")
-        CmdTask('bash src/cartographer/scripts/install_proto3.sh',path='cartographer_ws').run()
-        # 6
         CmdTask("catkin_make_isolated --install --use-ninja",'cartographer_ws').run()
         CmdTask("sudo chmod -R 777 cartographer_ws").run()