cartographer ubuntu20.04安装

版本选择

代码包	版本
cartographer_ros	1.0.0
cartographer	1.0.0
ceres-solver	1.13.0
glog	0.5.0

安装方式

1. 安装工具

sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow

2. 初始化工作空间

wstool init src

3. 安装代码包 根据特定的版本

  cd src
  git clone https://github.com/googlecartographer/cartographer_ros.git
  git clone https://github.com/googlecartographer/cartographer.git
  git clone https://github.com/ceres-solver/ceres-solver.git

4. 安装依赖

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

5. 安装abseil-cpp 库

src/cartographer/scripts/install_abseil.sh

如果系统本身存在，需要移除，防止冲突

sudo apt-get remove ros-${ROS_DISTRO}-abseil-cpp

6. ceres-solver

安装依赖

apt-get install  liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev

编译

cd ceres-solver
mkdir build
cd build
cmake ..
make -j4
make install

7. glog

wget https://github.com/google/glog/archive/refs/tags/v0.5.0.tar.gz
tar -zxvf v0.5.0.tar.gz
cd glog
mkdir build
cd build
cmake ..
make -j4
make install

9. 编译

catkin_make_isolated --install --use-ninja -DPYTHON_EXECUTABLE=$(which python3)

10. 官方安装指南