Cartographer安装

参考链接

https://doc.bwbot.org/zh-cn/books-online/xq-manual/topic/136.html
https://google-cartographer-ros.readthedocs.io/en/latest/

基本步骤

1.安装依赖

sudo apt-get update

sudo apt-get install -y \
    cmake \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libprotobuf-dev \
    libsuitesparse-dev \
    libwebp-dev \
    ninja-build \
    protobuf-compiler \
    python-sphinx

2.安装ceres solver

cd ~/Downloads
git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
mkdir build
cd build
cmake ..
make -j4
sudo make install

3．安装prtobuf 3.0

cd ~/Downloads
git clone https://github.com/google/protobuf.git
cd protobuf
git checkout v3.6.1
mkdir build
cd build
cmake  \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_BUILD_TYPE=Release \
  -Dprotobuf_BUILD_TESTS=OFF \
  ../cmake
make -j4
sudo make install

4．安装cartographer

cd  ~/Downloads
git clone https://github.com/cartographer-project/cartographer.git
cd cartographer
mkdir build
cd build
cmake ..
make -j4
sudo make install

5．安装cartographer_ros

cd ~/catkin_ws/src     //请修改路径到自己的ROS catkin工作空间
git clone https://github.com/cartographer-project/cartographer_ros.git
cd ..
catkin_make