最新版cartographer 安装

(the following process 需要能上外网，我们学校是可以上谷歌的，所以可以正常安装)

安装依赖

       sudo apt-get install libghc-gnutls-dev

sudo apt-get install cmake
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687

sudo apt-get update（如果这一步出现错误，到/etc/apt/source.list.d文件夹下面，用sudo rm -f 把相应的ppa删除，然后重新执行sudo apt-get update）

sudo apt-get install libsuitesparse-dev

1 sudo apt-get update
2 sudo apt-get install -y python-wstool python-rosdep ninja-build
3 mkdir catkin_ws
4 cd catkin_ws
5 wstool init src
6 wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall

7  wstool update -t src
8 src/cartographer/scripts/install_proto3.sh 

1 sudo apt-get update
2 sudo apt-get install -y python-wstool python-rosdep ninja-build
3 mkdir catkin_ws
4 cd catkin_ws
5 wstool init src
6 wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall

7  wstool update -t src
8 src/cartographer/scripts/install_proto3.sh 

 

9 sudo rosdep init  (ignore this step if ros has been  installed)
10  rosdep update
11  rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
12 catkin_make_isolated --install --use-ninja
13  source install_isolated/setup.bash
10  rosdep update
11  rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
12 catkin_make_isolated --install --use-ninja
13  source install_isolated/setup.bash