cartographer

---

安装

参考https://blog.csdn.net/qq_26482237/article/details/92676267
catkin_google_ws文件夹建立

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
cd catkin_google_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
gedit catkin_google_ws/src/.rosinstall

改为

# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2020-12-11
- git:
    local-name: cartographer
    uri: https://github.com/googlecartographer/cartographer.git
    version: 1.0.0
- git:
    local-name: cartographer_ros
    uri: https://github.com/googlecartographer/cartographer_ros.git
    version: 1.0.0
- git:
    local-name: ceres-solver
    uri: https://github.com/ceres-solver/ceres-solver.git
    version: 1.13.0

wstool update -t src
src/cartographer/scripts/install_proto3.sh
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

二进制

sudo apt-get install ros-melodic-cartographer-*