编译Cartographer时报关于cartographer_rviz的错，报错如下：

c++: fatal error: Killed signal terminated program cc1plus compilation terminated. make[2]: *** [CMakeFiles/cartographer_rviz.dir/build.make:76: CMakeFiles/cartographer_rviz.dir/cartographer_rviz/drawable_submap.cc.o] Error 1 make[2]: *** Waiting for unfinished jobs.... make[1]: *** [CMakeFiles/Makefile2:450: CMakeFiles/cartographer_rviz.dir/all] Error 2 make: *** [Makefile:141: all] Error 2 <== Failed to process package 'cartographer_rviz': Command '['/root/cartographer_ws/devel_isolated/cartographer_ros/env.sh', 'make', '-j4', '-l4']' returned non-zero exit status 2. Reproduce this error by running: ==> cd /root/cartographer_ws/build_isolated/cartographer_rviz && /root/cartographer_ws/devel_isolated/cartographer_ros/env.sh make -j4 -l4 Command failed, exiting.

分析原因：

开发板系统资源不足，需要减少编译线程。

解决方案：

MAKEFLAGS="-j2" catkin_make_isolated