Ubuntu20.04系统安装Cartographer云里雾里？跟着以下步骤轻松搞定！

下载和安装

(cartographer_ros：https://github.com/cartographer-project/cartographer_ros

解压命名为 cartographer_ros，存放在~/Dowloads文件夹里面)

//导入工程
sudo apt-get update
    
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
    
mkdir ~/cartographer_ws

cd ~/cartographer_ws

mkdir catkin_ws

cd catkin_ws

wstool init src

cp -r ~/Dowloads/cartographer_ros ~/cartographer_ws/catkin_ws/src

wstool update -t sr

sudo rosdep init

rosdep update

rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

//安装required libraries  
cd ~/cartographer_ws
    
sudo apt-get update
    
sudo apt-get install -y \
    clang \
    cmake \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libceres-dev \
    libcurl4-openssl-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libsuitesparse-dev \
    lsb-release \
    ninja-build \
    python3-sphinx \
    stow 
    
git clone https://github.com/abseil/abseil-cpp.git

cd abseil-cpp
    
git checkout 215105818dfde3174fe799600bb0f3cae233d0bf
    
mkdir build
    
cd build
    
cmake -G Ninja \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \
  ..
    
ninja
    
sudo ninja install
    
cd /usr/local/stow
    
sudo stow absl

//编译    
cd ~/cartographer_ws/catkin_ws
    
catkin_make_isolated --install --use-ninja

测试

//下载2D地图数据包
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

cd ~/cartographer_ws/catkin_ws
    
source install_isolated/setup.bash
    
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag