cartographer安装和编译

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参考文章
cartographer安装教程（超详细，保姆级教程）
Ubuntu18.04 安装cartographer

20.04虚拟机，Noetic

P.S. 挺简单的，断断续续没用脑子装的，这两天好困

​1. 安装依赖

安装的时候总报错：

The following packages have unmet dependencies:
 python-sphinx : Depends: python-docutils (>= 0.11) but it is not going to be installed
                 Depends: python-pygments (>= 2.0) but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

解决办法：
python-sphinx 换成 python3-sphinx, 即安装依赖如下：

sudo apt-get install -y     cmake     g++     git     google-mock     libboost-all-dev     libcairo2-dev     libeigen3-dev     libgflags-dev     libgoogle-glog-dev     liblua5.2-dev     libsuitesparse-dev     libwebp-dev     ninja-build     protobuf-compiler     python3-sphinx

2、安装protobuf3

(1)安装之前先卸载卸载ros自带proto2

sudo apt-get remove libprotobuf-dev
which protoc

(2)安装protobuf3.6.0

//安装依赖库
sudo apt-get install autoconf automake libtool curl make g+