catographer无ROS安装测试

安装依赖

sudo apt-get install -y python-wstool python-rosdep ninja-build
sudo apt-get install stow

安装absl

cd scripts
./install_abseil.sh

虚拟机已经安装ceres-solver-1.14.0，遇到的BUG是

CMake Error at /usr/local/lib/cmake/Ceres/CeresConfig.cmake:88 (message):

Failed to find Ceres - Missing requested Ceres components: [SuiteSparse]
......

but it set Ceres_FOUND to FALSE so package "Ceres" is considered to be NOT

FOUND.

这是因为ceres编译的时候没有选择suitespase，在ceres/build目录下通过以下命令先卸载掉ceres：

#先卸载掉ceres
sudo make uninstall

#删除掉build目录
rm -rf build

然后根据我的命令重新安装即可（出现这个错误就可以不用认官网的安装教程）

mkdir build && cd build

#注意：将编译选项打开
cmake -DEIGENSPARSE=ON ..

make 

sudo make install

编译catographer静态库

官网是直接将catographer编译到/usr/local底下，我是将库文件安装到本地的指定文件夹，具体操作如下：

mkdir build && cd build

cmake -D CMAKE_INSTALL_PREFIX=/home/hi/DependPackages/install ..

make

make install

编译和安装后在catographer的cmake文件里加上路径即可编译catographer_ros

set(cartographer_DIR "/home/hi/DependPackages/install/share/cartographer/")

GitHub - cartographer-project/cartographer: Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.https://github.com/cartographer-project/cartographer

Cartographer — Cartographer documentationhttps://google-cartographer.readthedocs.io/en/latest/