cd ~/Download
git clone https://github.com/Tengyun-Mo/ceres-solver.git
cd ceres-solver
mkdir build
cd build
cmake ..
make -j4
sudo make install
3.安装prtobuf 3.0
cd ~/Download
git clone https://github.com/google/protobuf.git
cd protobuf
git checkout v3.6.1
mkdir build
cd build
cmake \
-DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-DCMAKE_BUILD_TYPE=Release \
-Dprotobuf_BUILD_TESTS=OFF \
../cmake
make -j4
sudo make install
4.安装cartographer
cd ~/Download
git clone https://github.com/googlecartographer/cartographer.git
cd cartographer
mkdir build
cd build
cmake ..
make -j4
sudo make install
5.安装cartographer_ros
cd ~/catkin_ws/src //请修改路径到自己的ROS catkin工作空间
git clone https://github.com/googlecartographer/cartographer_ros.git
cd ..
catkin_make