cartographer快速安装方案

适用于ubuntu18.04 ros melodic

1、安装插件

sudo apt-get install -y google-mock libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev  libsuitesparse-dev libwebp-dev ninja-build python-sphinx  ros-melodic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev autoconf automake libtool

2、安装protocbuf-3.4.0

安装文件放在百度网盘里
链接: [link](链接: https://pan.baidu.com/s/1cXvXHnQKTCWQHYrD6AIuCw 密码: 1qsq).
解压protocbuf-3.4.0

cd protocbuf-3.4.0
git init
./autogen.sh
./configure
sudo make 
sudo make install 
sudo ldconfig

3、编译cartographer

新建文件夹carto_ws/src，下载cartographer，cartographer_ros ceres-solver到src中。打开终端

cd carto_ws
catkin_make_isolated --install --use-ninja

等待编译完成