***优先看官方文档***
***优先看官方文档***
***优先看官方文档***
首先,D-LIOM
安装依赖
安装cartographer_ros
Compiling Cartographer ROS — Cartographer ROS documentation
ROS安装中sudo rosdep init和rosdep update失败的终极解决方法(最新版本)_何为其然的博客-CSDN博客_rosdep2
安装OpenCV3.3.1
【ROS】Ubuntu18.04安装OpenCV(3.3.1)_逍遥de鱼的博客-CSDN博客_ubuntu18.04安装opencv3.3.1
安装 opencv_contrib
GitHub - opencv/opencv_contrib at 3.3.1
安装GTSAM 4.0.2
GitHub - borglab/gtsam at 4.0.2
Build过程中的坑:
关于“Set CMake variable "OpenCV_DIR" in the root CMakeLists.txt of "cartographer".”
把跟D-LIOM在同一个src文件夹里的cartographer的CMakeLists里的这行改下路径,我的OpenCV是安装在默认路径的,所以改成
set(OpenCV_DIR "/usr/local/share/OpenCV")
conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’解决_一抹烟霞的博客-CSDN博客