依赖:
1.ceres,在github上下载1.14.x的,照着下面博客装就行
https://blog.csdn.net/Coderii/article/details/87601836
2.lua
sudo apt-get install liblua5.2-dev
3.ros,换成的是阿里云的源如下图
如果定位不到软件包,就先要添加ros的源,可以参考:详细介绍如何在ubuntu20.04中安装ROS系统,超快完成安装(最新版教程)_ubuntu安装ros_慕羽★的博客-CSDN博客
sudo apt update
sudo apt-get install ros-melodic-desktop-full
sudo apt-get install -y python-wstool python-rosdep ninja-build stow
接着
sudo rosdep init
下一步就是rosdep update,不出意外会由于网络问题无法完成,这时候就参考以下博文进行后续操作,rosdep直接下载就行:
https://blog.csdn.net/weixin_50508111/article/details/119957272
然后测试乌龟,能动就ok。
4.最后照着carto的官网来装carto,Compiling Cartographer ROS — Cartographer ROS documentation
mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
src/cartographer/scripts/install_abseil.sh
sudo apt-get remove ros-${ROS_DISTRO}-abseil-cpp
catkin_make_isolated --install --use-ninja