ubuntu18.04安装cartographer

二进制安装与源码安装二选一否则报错
二进制安装

sudo apt install ros-melodic-cartographer*

源码安装

sudo apt-get update
sudo apt-get install -y \
    clang \
    cmake \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libcurl4-openssl-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libsuitesparse-dev \
    lsb-release \
    ninja-build \
    stow

安装abseil

cd ~/3rdparty
git clone https://github.com/abseil/abseil-cpp.git
cd abseil-cpp
git checkout d902eb869bcfacc1bad14933ed9af4bed006d481
mkdir build
cd build
cmake -G Ninja \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \
  ..
ninja
sudo ninja install
cd /usr/local/stow
sudo stow absl

安装ceres

VERSION="1.13.0"

# Build and install Ceres.
cd ~/3rdparty
git clone https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver
git checkout tags/${VERSION}
mkdir build
cd build
cmake .. -G Ninja -DCXX11=ON
ninja
CTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install

安装protobuf

VERSION="v3.4.1"

# Build and install proto3.
cd ~/3rdparty
git clone https://github.com/google/protobuf.git
cd protobuf
git checkout tags/${VERSION}
mkdir build
cd build
cmake -G Ninja \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_BUILD_TYPE=Release \
  -Dprotobuf_BUILD_TESTS=OFF \
  ../cmake
ninja
sudo ninja install

安装cartographer

cd ~/3rdparty
git clone https://github.com/cartographer-project/cartographer
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
CTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install

cd ~/test/src
git clone https://github.com/xiangli0608/cartographer_detailed_comments_ws.git
#带注释版本
cd cartographer_detailed_comments_ws
git pull origin master #拉取最新版本
#删除cartographer里面的package.xml
rm ~/test/src/cartographer_detailed_comments_ws/src/cartographer/package.xml
cd ~/test  && catkin_make
echo "source ~/test/devel/setup.bash" >> ~/.bashrc && source ~/.bashrc