怎么安装了Cartographer

Cartographer是一个开源的SLAM（Simultaneous Localization and Mapping）库，用于实现机器人的自主导航和地图构建。安装Cartographer需要以下步骤：

1. 安装依赖项：Cartographer需要安装以下依赖项：Ceres Solver、Google Protobuf、Eigen、Lua、PCL、Glog、Gflags、OpenCV、Boost。可以使用以下命令安装：

  sudo apt-get install -y cmake g++ git google-perftools libatlas-base-dev libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libsuitesparse-dev ninja-build python-wstool protobuf-compiler python-protobuf python-yaml
  sudo apt-get install -y python3-pip python3-colcon-common-extensions python3-setuptools python3-wheel python3-rosdep python3-rosinstall-generator python3-vcstool

2. 下载和编译Cartographer源代码：可以使用以下命令下载和编译Cartographer源代码：

  mkdir -p ~/cartographer_ws/src
  cd ~/cartographer_ws/src
  git clone https://github.com/googlecartographer/cartographer.git
  git clone https://github.com/googlecartographer/cartographer_ros.git
  cd ~/cartographer_ws
  source /opt/ros/<ROS_DISTRO>/setup.bash
  rosdep update
  rosdep install --from-paths src --ignore-src --rosdistro=<ROS_DISTRO> -y
  catkin_make_isolated --install --use-ninja

3. 配置环境变量：为了使用Cartographer，需要设置以下环境变量：

  source ~/cartographer_ws/install_isolated/setup.bash
  export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/cartographer_ws/install_isolated/share

4. 运行Cartographer：可以使用以下命令运行Cartographer：

  roslaunch cartographer_ros <launch_file>.launch

以上是Cartographer的安装和配置步骤，具体的操作可以参考Cartographer官方文档。