貌似没有按照官网的教程,至于官网的教程等有时间再来测,参照的文章如下:
链接: https://blog.csdn.net/TengYun_zhang/article/details/93753468
具体步骤
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 ~/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.安装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.安装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/googlecartographer/cartographer_ros.git
cd ..
catkin_make