cartographer 使用 定位_Rplidar学习（五）—— rplidar使用cartographer_ros进行地图云生成...

一、Cartographer简介

Cartographer是google开源的通用2D和3D定位与地图同步构建的SLAM工具，并提供ROS接口。官网地址：https://github.com/googlecartographer

二、安装方法

1、安装全部依赖项

sudo apt-get updatesudo apt-get install -y \

cmake \

g++\

git \

google-mock \

libboost-all-dev \

libeigen3-dev \

libgflags-dev \

libgoogle-glog-dev \

liblua5.2-dev \

libprotobuf-dev \

libsuitesparse-dev \

libwebp-dev \

ninja-build \

protobuf-compiler \

python-sphinx \

ros-kinetic-tf2-eigen \

libatlas-base-dev \

libsuitesparse-dev \

liblapack-dev

2、安装ceres solver，下载安装在主目录下，由于googlesource.com需要FQ，这里使用hitcm(张明明)的github地址

# Build and installCeres.

# git clone https://ceres-solver.googlesource.com/ceres-solver

# cd ceres-solver

git clone