安装cartographer_ros

 

 

这里使用的是hitcm（张明明）的github地址，由于google官方的教程需要FQ下载一些文件，因此容易失败，经验证hitcm（张明明）对原文件进行了少许修改后可以成功安装，在他的修改中核心代码不变，只修改了编译文件。
We recommend using wstool and rosdep. For faster builds, we also recommend using Ninja.
# Install wstool and rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
# Create a new workspace in 'catkin_ws'.
mkdir catkin_ws
cd catkin_ws
wstool init src
# 下载到catkin_ws下面的src文件夹下面
cd src
git clone https://github.com/hitcm/cartographer_ros.git
# 然后到catkin_ws下面运行catkin_make安装
cd
cd catkin_ws
catkin_make，可能会报以下错误：Fatal error: pcl/conversions.h: No such file or directory.，执行sudo apt-get install ros-indigo-pcl-conversions，再次catkin_make即可

　　

转载于:https://www.cnblogs.com/sea-stream/p/9799705.html