安装系统环境:
ubuntu-14.04.5-amd64
ROS-indigo
1 安装cartographer
参考网址:http://www.cnblogs.com/hitcm/p/5939507.html
总共需要安装3个软件包:ceres solver、cartographer和cartographer_ros
1.1 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
1.2 安装ceres solver软件包
1. git clone https://github.com/hitcm/ceres-solver-1.11.0.git
2. cd ceres-solver-1.11.0
3. cmake .
4. make
5. sudo make install