cartographer ubuntu16.04 安装

cartographer安装

1. 安装依赖

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

2. 更新相关分支代码

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

3. 如果遇到问题，分别安装。
4. 下载cartographer git
   链接: https://pan.baidu.com/s/10RKIrhebxlsT8uz8Q-_wgw
   提取码: emep
5. 安装protobuf

sudo apt-get install autoconf automake libtool curl make g++ unzip

2. 下载protobuf git代码，因为如果是用cartographer git的话速度慢，而且要跨域下载，估计下载不了

git clone https://github.com/protocolbuffers/protobuf.git

链接: https://pan.baidu.com/s/1ssLjfHvuiMveJDd-xOHIdQ
提取码: 7ev7

3. 然后运行gen.sh

cd protobuf
git submodule update --init --recursive
./autogen.sh

4. make

./configure
make
make check
sudo make install
sudo ldconfig # refresh shared library cache.

5. 其中相关的资源是
   链接: https://pan.baidu.com/s/1xsXP3u5_jYevsdF1nkWiSg
   提取码: 68k9
6. cartographer安装流程，参考官网：https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html#building-installation
7. protobuf安装流程，参考官方说明：https://github.com/protocolbuffers/protobuf/blob/master/src/README.md