（一）cartographer及cartographer ros安裝

貌似沒有按照官網的教程，至于官網的教程等有時間再來測，參照的文章如下：

連結: https://blog.csdn.net/TengYun_zhang/article/details/93753468

具體步驟

1.安裝依賴

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.安裝ceres solver

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

3．安裝prtobuf 3.0

cd ~/Download
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．安裝cartographer

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

5．安裝cartographer_ros

cd ~/catkin_ws/src     //請修改路徑到自己的ROS catkin工作空間
git clone https://github.com/googlecartographer/cartographer_ros.git
cd ..
catkin_make