安装cartographer出现的问题及解决方法

CMAKE_CXX_FLAGS错误

把错误信息完整打到error1.log

catkin_make_isolated --install --use-ninja >> error1.log

查看第一个错误

 error: #error "C++ versions less than C++11 are not supported."

在cartographer下CMakeLists.txt 中添加CMAKE_CXX_FLAGS声明

set(CMAKE_CXX_FLAGS                "-Wall -std=c++11")
set(CMAKE_CXX_FLAGS_DEBUG          "-O0 -g")
set(CMAKE_CXX_FLAGS_MINSIZEREL     "-Os -DNDEBUG")
set(CMAKE_CXX_FLAGS_RELEASE        "-O4 -DNDEBUG")
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O2 -g")

# Compiler-specific C++11 activation.
if ("${CMAKE_CXX_COMPILER_ID}" MATCHES "GNU")
    execute_process(
        COMMAND ${CMAKE_CXX_COMPILER} -dumpversion OUTPUT_VARIABLE GCC_VERSION)
    if (NOT (GCC_VERSION VERSION_GREATER 4.7 OR GCC_VERSION VERSION_EQUAL 4.7))
        message(FATAL_ERROR "${PROJECT_NAME} requires g++ 4.7 or greater.")
    endif ()
elseif ("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libc++")
else ()
    message(FATAL_ERROR "Your C++ compiler does not support C++11.")
endif ()

protoc 版本错误

error: #error This file was generated by an older version of protoc which is
#error This file was generated by an older version of protoc which is

解决办法：

这个错误说的是protoc的版本要求老版本，你可以先使用命令：
$ protoc --version
如果不是官网要求的3.4.0，则删除原来版本
重新运行

src/cartographer/scripts/install_proto3.sh

如果不行，则修改install_proto3.sh中的版本号，尝试不同版本

pcl相关

错误一

Could not find a package configuration file provided by "PCL" with any of the following names

错误原因是没有安装pcl，可以安装pcl1.7，切不可安装pcl1.9，谨记。。。

sudo apt-get install libpcl-dev 
或者
sudo apt-get install libpcl1.7

错误二

Could not find a package configuration file provided by "pcl_conversions"

需要安装ros的pcl_conversions包

sudo apt-get install ros-kinetic-pcl-ros
sudo apt-get install ros-kinetic-pcl-conversions