Cartographer 安装问题

按照官网说明进行安装

1.ubuntu18.04+ros(melodic+python2)下安装执行命令，注意是python2还是python3

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

2.failed to find ceres

下载ceres-solver-1.13,手动安装,安装到默认目录

3.安装cartographer_rviz问题，涉及QT版本问题

修改cartographer_rviz的cmakelists.txt文件，赵傲find_package(Qt5 ${rviz_QT_VERSION}  REQUIRED EXACT Core Widgets) 删掉EXACT也可以运行，没必要指定版本号

4.rviz启动后加载一些jsk插件失败

sudo apt-get install ros-melodic-jsk-rviz-plugins

5.submaps加载失败

[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. Declared types are  moveit_rviz_plugin/MotionPlanning moveit_rviz_plugin/PlanningScene moveit_rviz_plugin/RobotState moveit_rviz_plugin/Trajectory rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidP