边界检测仿真Ubuntu16.04

1.错误：

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

    CeresConfig.cmake
    ceres-config.cmake

解决：虽已完成编译，但没有进行安装。用sudo make install

2.错误：

[ERROR] [1591174235.117906145]: PluginlibFactory: The plugin for class 'Submaps' failed to load.  Error: According to the loaded plugin descriptions the class Submaps with base class type rviz::Display does not exist.

解决：sudo apt install ros-kinetic-cartographer-rviz

3.错误：cannot launch node of type [cartographer_ros/cartographer_node]。明明在工作空间里有节点的可执行文件，而且环境里也都配置过了，但总是不行。之前单独跑cartographer的时候就可以啊。

解决：直接把这两个节点的可执行文件复制到工作空间/cartographer_ros/cartographer_ros的路径下。解决！