安装ROS（Kinetic 版本）和Cartographer

安装ROS（Kinetic 版本）和Cartographer
一、安装ROS
1.虚拟机vmware15安装ubuntu-16.04.5-desktop-amd64.iso
http://old-releases.ubuntu.com/releases/16.04.1/?_ga=2.101295553.116383899.1605364735-1623092470.1605364735
ubuntu-16.04.5-desktop-amd64.iso
2.安装ros-kinetic-desktop-full
https://www.ncnynl.com/archives/201801/2273.html
3.安装TurtleBot3及依赖包
https://www.ncnynl.com/archives/201707/1817.html
https://www.ncnynl.com/archives/201707/1788.html
turtlebot3_simulation包需要搭配turtlebot3包使用，所以要同时安装turtlebot3、turtlebot3_msgs、turtlebot3_simulations三个包。
4.仿真TurtleBot3使用教程
https://www.ncnynl.com/archives/201707/1786.html
5.实体TurtleBot3使用教程
https://www.ncnynl.com/archives/201707/1814.html

二、安装Cartographer
官网：
https://google-cartographer.readthedocs.io/en/latest/
https://google-cartographer-ros.readthedocs.io/en/latest/data.html
公开数据集：
https://google-cartographer-ros.readthedocs.io/en/latest/data.html
博客：
https://blog.csdn.net/qq_26482237/article/details/92676267
三、安装过程问题解决
1.在sudo rosdep init时出现的错误
ERROR: cannot download default sources list from: https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
解决方案：
#打开hosts文件
sudo gedit /etc/hosts
#在文件末尾添加
151.101.84.133 raw.githubusercontent.com
#保存后退出再尝试
2.在rosdep update时出现的错误
ERROR: error loading sources list:
<urlopen error <urlopen error (’_ssl.c:574: The handshake operation timed out’,)> (https://raw.githubusercontent.com/ros/rosdistro/master/rolling/distribution.yaml)>
解决方案：
换成手机热点，重新尝试rosdep update。

3.如果文件夹设置了权限，则修改文件夹权限
sudo chmod -R 777 carto_ws/