【cartographer without ros】一、不带Ros的快速安装

Cartographer是一个跨多个平台和传感器配置提供 2D 和 3D实时同步定位和映射 ( SLAM ) 的系统。
使用Cartographer有Ros集成环境和无Ros环境，可以使用ROS集成快速入门，但是在实际开发使用中，可能由于硬件或者其他因素影响，需要脱离Ros环境使用Cartographer。

下面介绍在无Ros环境下快速安装Cartographer。

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以下是个人环境：
VMware下的4核8G的Ubuntu 18.04

以下是个人安装流程：
home下创建文件夹Code：

mkdir ~/Code

创建CartographerEnvStart.sh文件

cd ~/Code
# Install the required libraries that are available as debs.
sudo apt-get update
sudo apt-get install -y \
    clang \
    cmake \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libcurl4-openssl-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libsuitesparse-dev \
    lsb-release \
    ninja-build \
    stow \
	librosbag-dev \
	libbz2-dev \
	liblaser-geometry-dev \
	libnav-msgs-dev \

# Install Ceres Solver and Protocol Buffers support if available.
# No need to build it ourselves.
if [[ "$(lsb_release -sc)" = "focal" || "$(lsb_release -sc)" = "buster" ]]
then
  sudo apt-get install -y python3-sphinx libgmock-dev libceres-dev protobuf-compiler
else
  sudo apt-get install -y python-sphinx
  if [[ "$(lsb_release -sc)" = "bionic" ]]
  then
    sudo apt-get install -y libceres-dev
  fi
fi


cd ~/Code
git clone https://github.com/abseil/abseil-cpp.git
cd abseil-cpp
git checkout d902eb869bcfacc1bad14933ed9af4bed006d481
mkdir build
cd build
cmake -G Ninja \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \
  ..
ninja
sudo ninja install
cd /usr/local/stow
sudo stow absl



cd ~/Code
VERSION="1.13.0"

# Build and install Ceres.
git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
git checkout tags/${VERSION}
mkdir build
cd build
cmake .. -G Ninja -DCXX11=ON
ninja
CTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install


cd ~/Code
VERSION="v3.4.1"

# Build and install proto3.
git clone https://github.com/google/protobuf.git
cd protobuf
git checkout tags/${VERSION}
mkdir build
cd build
cmake -G Ninja \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_BUILD_TYPE=Release \
  -Dprotobuf_BUILD_TESTS=OFF \
  ../cmake
ninja
sudo ninja install

cd ~/Code
# Build and install Cartographer.
git clone https://github.com/cartographer-project/cartographer.git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
CTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install

执行CartographerEnvStart.sh文件

./CartographerEnvStart.sh

git下载速度缓慢可以将使用git镜像
github.com → github.com.cnpmjs.org
等待全部安装完成

【完】

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下一节分析一下在无Ros系统中编写工程使用cartographer的思路和大纲结构。