Ubuntu18.04 cartographer安装以及遇到的问题

Ubuntu18.04 cartographer安装：

1.安装依赖

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
sudo apt-get install cmake
sudo apt-get install build-essential
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
sudo apt install lua5.2

2.按照书上创建和初始化工作空间

mkdir catkin_google_ws
cd catkin_google_ws
wstool init src

3.下载安装包

为了避免超时，下载慢等问题，我是自己去了GitHub上下载zip压缩包，然后解压放到工作空间src目录下

cartographer下载链接

cartographer_ros下载链接

ceres-solver下载链接

4.安装依赖并下载cartographer相关功能包（注意rosdistro=kinetic -y是根据自己ros的版本来的）

rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=melodic -y

5.编译并安装

catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

6.下载demo进行测试

我是自己去官网下载然后进行测试的，这样下载更快：

编译格式：

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=跟上bag的路径

roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=跟上bag的路径

cartographer官网

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=/home/fairy/Downloads/b0-2014-07-11-11-00-49.bag

roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=/home/fairy/Downloads/b3-2016-03-01-13-39-41.bag 

安装cartographer遇到的问题：

rosdep update时遇到的问题：

raceback (most recent call last):
  File "/usr/bin/rosdep", line 6, in <module>
    from pkg_resources import load_entry_point
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 3088, in <module>
    @_call_aside
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 3072, in _call_aside
    f(*args, **kwargs)
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 3101, in _initialize_master_working_set
    working_set = WorkingSet._build_master()
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 576, in _build_master
    return cls._build_from_requirements(__requires__)
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 589, in _build_from_requirements
    dists = ws.resolve(reqs, Environment())
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 778, in resolve
    raise DistributionNotFound(req, requirers)
pkg_resources.DistributionNotFound: The 'rospkg>=1.3.0' distribution was not found and is required by rosdep

解决办法：sudo pip install rosdep

编译时缺少absl包：

CMake Error at CMakeLists.txt:32 (find_package):
  By not providing "Findabsl.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "absl", but
  CMake did not find one.

  Could not find a package configuration file provided by "absl" with any of
  the following names:

    abslConfig.cmake
    absl-config.cmake

  Add the installation prefix of "absl" to CMAKE_PREFIX_PATH or set
  "absl_DIR" to a directory containing one of the above files.  If "absl"
  provides a separate development package or SDK, be sure it has been
  installed.

解决办法：1.sudo apt-get install stow

2.进入你建的工作空间下的src目录下的cartographer下的scripts：sudo chmod +x install_abseil.sh

3. ./install_abseil.sh

fatal error:lua.hpp没有那个文件或目录

解决办法：（具体错误信息忘记复制了）sudo apt install liblua5.3-dev

catkin_make_isolated --install --use-ninja编译出错：

Failed to process package 'cartographer_ros':
  Command '['/root/catkin_google_ws2/install_isolated/env.sh', 'ninja', '-j4', '-l4']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /root/catkin_google_ws2/build_isolated/cartographer_ros && /root/catkin_google_ws2/install_isolated/env.sh ninja -j4 -l4

Command failed, exiting.

这个问题没有解决，网上说是protoc版本有问题，要安装3的版本，当时安装了，但是还是这个问题，后面重装系统了，再安装一路顺畅。建议重新建立一个工作空间安装试一下，网上多看看protoc相关的问题，实在不行再重装系统。