Cartographer编译过程中的错误

cartographer安装的过程是参照这个文章

Ubuntu20安装并使用Cartographer建图导航_libabsl-dev-CSDN博客

文章写的很好，非常有用

大概的错误是这个

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
GMOCK_LIBRARY (ADVANCED)
    linked by target "time_conversion_test" in directory /home/vensin/catkin_ws/src/cartographer_ros/cartographer_ros
    linked by target "configuration_files_test" in directory /home/vensin/catkin_ws/src/cartographer_ros/cartographer_ros
    linked by target "msg_conversion_test" in directory /home/vensin/catkin_ws/src/cartographer_ros/cartographer_ros
    linked by target "metrics_test" in directory /home/vensin/catkin_ws/src/cartographer_ros/cartographer_ros

-- Configuring incomplete, errors occurred!
See also "/home/vensin/catkin_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeOutput.log".
See also "/home/vensin/catkin_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeError.log".
FAILED: build.ninja 
/usr/bin/cmake -S/home/vensin/catkin_ws/src/cartographer_ros/cartographer_ros -B/home/vensin/catkin_ws/build_isolated/cartographer_ros
ninja: error: rebuilding 'build.ninja': subcommand failed
<== Failed to process package 'cartographer_ros': 
  Command '['/home/vensin/catkin_ws/install_isolated/env.sh', 'ninja', 'build.ninja']' returned non-zero exit status 1.

解决的方案是安装这个：

sudo apt-get install libgmock-dev