cartographer 安装

1.非官方版

https://blog.csdn.net/weixin_43262513/article/details/88256762

2.官方版

1.安装wstool 和ninja
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
2.创建cartographer的ros工作空间（科学上网）
mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
3.安装cartographer依赖
src/cartographer/scripts/install_proto3.sh
sudo rosdep init（可能会报错，安装ros时执行过则可忽略）
rosdep update（出错可跳过）
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y（出错加sudo）
4.Build and install.
catkin_make_isolated --install --use-ninja