cartograher安装部署教程

1、安装依赖包

sudo apt-get update
sudo apt-get install -y cmake g++ git google-mock libboost-all-dev libcairo2-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx stow

2、安装ceres solver依赖

git clone https://gitee.com/myzys/ceres-solver-eigen3.29.git
cd ceres-solver-eigen3.29
mkdir build && cd build
cmake ..
make -j3
sudo make install

3、安装prtobuf 3.0 依赖

git clone https://github.com/google/protobuf.git
cd protobuf
git checkout v3.6.1
mkdir build&&cd build
cmake -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DCMAKE_BUILD_TYPE=Release -Dprotobuf_BUILD_TESTS=OFF ../cmake
make -j3
sudo make install

4、安装abseil依赖

git clone https://github.com/abseil/abseil-cpp.git
cd abseil-cpp
git checkout d902eb869bcfacc1bad14933ed9af4bed006d481
mkdir build&&cd build
cmake -G Ninja -DCMAKE_BUILD_TYPE=Release -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl ..
ninja
sudo ninja install
cd /usr/local/stow
sudo stow absl

5、安装cartographer

git clone https://gitee.com/myzys/cartographer.git
cd cartographer
mkdir build&&cd build
cmake ..
make -j3
sudo make install

6、安装cartographer_ros

cd ~/catkin_ws/src   #请修改路径到自己的ROS catkin工作空间
git clone https://gitee.com/myzys/cartographer_ros.git
cd ..
catkin_make