ROS-learning-CartoGrapher Installation Steps

Reference :

1. 谷歌Cartographer学习（1）-快速安装测试

2. Cartographer ROS Integration

Steps:

1.   安装所有依赖项

   sudo apt-get install -y google-mock libboost-all-dev  libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev  libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx  ros-indigo-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

   1.首先安装ceres solver，选择的版本是1.11,路径随意

   1.     git clone https://github.com/hitcm/ceres-solver-1.11.0.git

   2.      cd ceres-solver-1.11.0

   3.      cmake .

   4.      make -j

   5.      sudo make install

    

   2.然后安装 cartographer,路径随意

   1.      git clone https://github.com/googlecartographer/cartographer.git

   2 .     cd cartographer

   3.       cmake .

   4.       make

   5.       sudo make install

   3.安装cartographer_ros。( Create a new workspace to build this package because of using catkin_make_isolated rather than catkin_make)
   

   # Install wstool and rosdep.
   sudo apt-get update
   sudo apt-get install -y python-wstool python-rosdep ninja-build
   
   # Create a new workspace in 'catkin_ws_new'.
   mkdir catkin_ws_new
   cd catkin_ws_new
   wstool init src
   
   # Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
   wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
   wstool update -t src  #This command will install three packages (ceres solver , cartographer ,cartographer_ros),we only use cartographer_ros others could be deleted
   
   # Install deb dependencies.
   # The command 'sudo rosdep init' will print an error if you have already
   # executed it since installing ROS. This error can be ignored.
   sudo rosdep init
   rosdep update
   rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y # here ROS_DISTRO is indigo
   
   # Build and install.
   catkin_make_isolated --install --use-ninja
   source install_isolated/setup.bash