嵌入式实践教程--cartographer2020在 ubuntu18.04编译

步骤一，安装所有的依赖项：

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-kinetic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

二：下载abseil

网址：https://github.com/abseil/abseil-cpp.
安装abseil的静态库：

mkdir build && cd build
cmake ..
make
sudo make install

安装abseil的动态库：可以将之前的build文件删掉，重新建立

mkdir build && cd build
cmake ..  -DBUILD_SHARED_LIBS=ON
make
sudo make install

步骤三，安装ceres-solver-master：

git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
mkdir build
cd build
cmake ..
make -j4
sudo make install

步骤四，cartographer（安装在根目录下）：

git clone https://github.com/googlecartographer/cartographer.git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install

更改cartographer的CMakeList.txt文件（有2处）和cartographer-config.cmake.in文件（有1处）
CMakeList.txt 第1处：

find_package(Abseil REQUIRED) --> find_package(absl REQUIRED)
CMakeList.txt 第2处：#默认的库文件是 standalone_absl

target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY}
absl::base
absl::synchronization
absl::strings
absl::flat_hash_map
absl::numeric
absl::flags)

然后重新编译即可
cartographer-config.cmake.in 1处：

find_package(Abseil ${QUIET_OR_REQUIRED_OPTION}) Abseil 改为 absl

步骤五，安装cartographer_ros：

#初始化工作空间，我之前有一个工作空间为catkin_ws，我的命名为google_ws
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
#安装cartographer_ros
cd ~/catkin_ws/src
git clone https://github.com/hitcm/cartographer_ros.git
cd ~/catkin_ws
catkin_make

更改cartographer_ros的CMakeList.txt，有2处cartographer_ros 和 cartographer_rviz的改法均一致

find_package(Abseil REQUIRED) --> find_package(absl REQUIRED)

然后重新编译即可。
本实验经过验证，可行通过

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