原文链接:link
具体实现步骤:原文链接走一遍就行,如下:
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
//在这一步可能会显示无法下载cere-solver,解决办法手动下载cere-solver(**注**:ros版本,不是cmake) 然后放到src中,下载链接:https://github.com/ceres-solver/ceres-solver点击页面中的tgz可以下载,下载后解压到src中
src/cartographer/scripts/install_proto3.sh
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
//这里要修改ROS_DISTRO为自己的ros版本如KINETIC或者indigo
catkin_make_isolated --install --use-ninja
//这步会出现问题,具体看下面解决方法
source install_isolated/setup.bash
//回到catkin_ws/src目录下执行