ubuntu18.04+ ros-melodic 源码安装cartographer

参考链接：

cartographer官方：Running Cartographer ROS on a demo bag — Cartographer ROS documentation

cartographer安装教程（超详细，保姆级教程）_顽强的小蜗牛的博客-优快云博客

 Ubuntu 18.04 安装cartographer_ceres solver要梯子_锡城筱凯的博客-优快云博客

1.安装依赖

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 \
    libsuitesparse-dev \
    libwebp-dev \
    ninja-build \
    protobuf-compiler \
    python-sphinx

2.源码安装ceres-solver-1.13

ceres链接：Tags · ceres-solver/ceres-solver · GitHub

源码安装步骤：略

3.安装cartogrpaher

mkdir -p car2_ws/src  //创建工作空间
cd car2_ws/src
git clone https://github.com/cartographer-project/cartographer.git 
cd cartographer
mkdir build        //创建build
cd build           //进入build
cmake .. -G Ninja
ninja              //没安装 要先安装
sudo ninja install //安装cartographer

编译时会出现缺少absl报错

解决：下载cartographer上有安装absl的脚本

sudo apt-get install stow
sudo chmod +x ~/car2_ws/src/cartographer/scripts/install_abseil.sh
cd ~/car2_ws/src/cartographer/scripts
./install_abseil.sh

安装好后，重新执行sudo ninja install。

4.安装cartographer_ros

cd car2_ws/src
git clone  https://github.com/cartographer-project/cartographer_ros.git

5.编译

cd car2_ws
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

6.测试：参考官方文档 下载数据包【默认下载在Downloads下，要注意下载地址与代码要对应】

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

7.测试结果

 测试成功。