cartographer 相关功能包安装及使用

环境：ubuntu 16.04 + kinetic;
作为菜鸟，第一次安装cartographer花了不短的时间，参考了一些博客。cartographer共包含三个功能包，在此分别下载和编译，同时记录下来，方便下次使用。

一、准备：

安装所有依赖项:

sudo apt-get install -y google-mock libboost-all-dev  libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev  libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx  ros-kinetic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

1. ceres-solver

主目录下，依次执行：

git clone https://github.com/hitcm/ceres-solver-1.11.0.git
cd ceres-solver-1.11.0
mkdir build
cd build
cmake ..
make -j4
sudo make install

2. cartographer

主目录下，依次执行：

git clone https://github.com/hitcm/cartographer.git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install

3. cartographer_ros

主目录下，依次执行：

mkdir -p cartographer_ros_ws/src
cd cartographer_ros_ws/src
catkin_init_workspace
git clone https://github.com/hitcm/cartographer_ros.git
cd
cd cartographer_ros_ws
catkin_make_isolated --install --use-ninja
echo "source cartographer_ros_ws/devel_isolated/setup.bash" >> ~/.bashrc
source ~/.bashrc

二、使用：

因为之前已经将cartographer_ros功能包所属工作空间加入了环境变量，所以如下执行launch文件：

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=Downloads/cartographer_paper_deutsches_museum.bag

注意：每次修改配置文件后，需要重新编译。如下：

cd cartographer_ros_ws
catkin_make_isolated --install --use-ninja

参考：

1. https://blog.youkuaiyun.com/xmy306538517/article/details/81455625
2. 《ROS机器人开发实践》，胡春旭