raspberry4b install cartographer_ros

i want use ros devloper robot for my daugher,hardware choose Raspberry pi 4B,Arduino mepg2560 etc.
first in windows vm ware install ubuntu18.04 to develop,master i use raspberry buster os+ros build,but when i use cartograpber_ros ,raspberry buster cann’t support,so i search internent,the result’s cartographer_ros must build in ubuntu os, but ubuntu official doesn’t support raspberry pi 4b ,So in here to record that i used raspberry pi 4b to develop robot.

Install ubuntu18.04

flow:https://jamesachambers.com/raspberry-pi-4-ubuntu-server-desktop-18-04-3-image-unofficial/
attention:
1.raspberry pi 4 must update Bootloader Firmware First (using Raspbian)
2.use win32DiskImage flush buntu-18.04.3-preinstalled-server-arm64+raspi4.img.xz to sd card

use Updater.sh

sudo ./Updater.sh

update hosts

sudo gedit /etc/host

then restart

sudo /etc/init.d/networking restart

ubuntu update sources

use tinghua sources update sources.list：

1. back sources.list

   sudo cp /etc/apt/sources.list /etc/apt/sources.list.origin

2. copy under code to sources.list and save

## Note, this file is written by cloud-init on first boot of an instance
## modifications made here will not survive a re-bundle.
## if you wish to make changes you can:
## a.) add 'apt_preserve_sources_list: true' to /etc/cloud/cloud.cfg
##     or do the same in user-data
## b.) add sources in /etc/apt/sources.list.d
## c.) make changes to template file /etc/cloud/templates/sources.list.tmpl

# See http:/