Cartographer ROS 安装

安装wstool、rosdep 、Ninja用于编译

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

创建一个工作空间

mkdir catkin_google_ws
cd catkin_google_ws
wstool init src

合并其他安装包

wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall

修改ceres-solver的源地址

gedit src/.rosinstall

ceres-solver的uri段替换为：uri: https://github.com/ceres-solver/ceres-solver.git

保存退出

更新工作空间和下载

wstool update -t src

安装proto3

src/cartographer/scripts/install_proto3.sh

安装依赖

rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

apt-get install libeigen3-dev

上面这个不确定是否必须

编译安装

catkin_make_isolated --install --use-ninja

编译失败按提示操作

把下面命令添加到bashrc

source ~/catkin_google_ws/devel_isolated/setup.bash