ubuntu软件环境

apt源

#pcd点云查看软件
sudo apt install pcl-tools
#locate定位
sudo apt install mlocate

ros包

sudo apt install ros-noetic-sparse-bundle-adjustment
sudo apt install ros-noetic-move-base-msgs
sudo apt install ros-noetic-costmap-converter
sudo apt install ros-noetic-mbf-costmap-core
sudo apt install ros-noetic-mbf-msgs
sudo apt install ros-noetic-libg2o
sudo apt install libsdl1.2-dev
sudo apt install libsdl-image1.2-dev
sudo apt install ros-noetic-joy
sudo apt install ros-noetic-plotjuggler-ros

gtsam安装

sudo add-apt-repository ppa:borglab/gtsam-release-4.0
sudo apt install libgtsam-dev libgtsam-unstable-dev