Cartographer install ros1

sudo apt install ninja-build stow git -y

sudo apt-get install libamd2 libatlas3-base libbtf1 libcamd2 libccolamd2 libceres-dev libceres1 libcholmod3 libcxsparse3 libgflags-dev libgflags2.2 libgoogle-glog-dev libgoogle-glog0v5 libklu1 libldl2 liblua5.2-0 liblua5.2-dev libmetis5 libncurses5 libncursesw5 librbio2 libreadline-dev libspqr2 libsuitesparse-dev libtinfo-dev libtinfo5 libtool-bin libumfpack5 -y

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

src/cartographer/scripts/install_abseil.sh

sudo apt-get remove ros-${ROS_DISTRO}-abseil-cpp

catkin_make_isolated --install --use-ninja -j$(nproc)