cartographer_ubuntu20.04_install

vcartographer Ubuntu 20.04下安装_WEN_LG的博客-CSDN博客

step 1:(step 1)

1、git clone https://github.com/googlecartographer/cartographer.git  
2、git clone https://github.com/ceres-solver/ceres-solver.git  
3、git clone https://github.com/abseil/abseil-cpp.git  
4、git clone https://github.com/google/protobuf.git

 step2:(step 2)

sudo apt-get install clang cmake g++ git google-mock libboost-all-dev libcairo2-dev libcurl4-openssl-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libsuitesparse-dev lsb-release ninja-build stow

 step3:

1、cd abseil-cpp 

2 、mkdir build
3、cd build
4、cmake ..  
5、make 
5、sudo make install
6、cd /usr/local/stow  
7、sudo stow absl

step4:(step 5)

1、cd ceres-solver

2、mkdir build

3、cd build

4、cmake .. -G Ninja -DCXX11=ON

5、ninja

6、sudo ninja install

step5:

1、 sudo apt-get install autoconf automake libtool curl make g++ unzip

2、 cd protobuf && ./autogen.sh

3、./configure

4、 make

5、 sudo make install

6、 sudo ldconfig

7、 protoc --version

step6:

1、cd cartographer   
2、mkdir build  && cd build
3、cmake .. -G Ninja
4、ninja
5、sudo ninja install

step7:(step 3)

sudo apt install libgmock-dev

1、sudo apt-get update
2、sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
3、mkdir carto_ws
4、cd carto_ws
5、wstool init src
6、wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
7、wstool update -t src
8、sudo rosdep init
9、rosdep update
10、rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

(step 6)
11、catkin_make_isolated --install --use-ninja

(step 4)

$ sudo apt-get install stow
$ sudo chmod +x ~/carto_ws/src/cartographer/scripts/install_abseil.sh
$ cd ~/carto_ws/src/cartographer/scripts
$ ./install_abseil.sh

(step 7)

12、source ~/carto_ws/install_isolated/setup.bash