cartograph安装

 一、

Could NOT find Sphinx (missing: SPHINX_EXECUTABLE)

sudo apt-get install python-sphinx

二、

60%] Linking CXX executable cartographer.mapping.2d.submap_2d_test
/usr/bin/ld: /usr/local/lib/libboost_iostreams.a(zlib.o): undefined reference to symbol 'inflateEnd'
//usr/local/lib/libz.so.1: 无法添加符号: DSO missing from command line

在cartograph的cmakelists.txt中的250行中添加 "/usr/local/lib/libz.so.1"

target_link_libraries(${PROJECT_NAME} PUBLIC ${GLOG_LIBRARY})
target_link_libraries(${PROJECT_NAME} PUBLIC gflags "/usr/local/lib/libz.so.1")