lubancatRK3588S ubuntu20.04 noetic 安装cartographer

1.sudo apt-get install python3-pip

2.pip3 install sphinx

3.sudo apt-get update

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

5.mkdir carto_ws

6.cd carto_ws

7.wstool init src

8.wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall

9.wstool update -t src

10.wget http://fishros.com/install -O fishros&&. fishros

使用小鱼儿进行rosdepc

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

这步会报错，打开carto_ws/src/cartographer/package.xml文件， 将第46行 <depend>libabsl-dev</depend> 进行注释

12.src/cartographer/scripts/install_abseil.sh

这步会出现clone失败的情况，首先尝试将install_abseil.sh文件的第20行执行的clone地址的https改成git，如果报错 unable to connect to github.com: github.com[0: 20.205.243.166]: errno=连接超时

则执行git config --global url."https://github.com".insteadOf git://github.com

13.catkin_make_isolated --install --use-ninja

安装成功后运行bag包测试

14.roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:='/home/cat/Downloads/cartographer_paper_deutsches_museum.bag'