ubuntu20安装cartographer grpc
时间: 2023-08-14 21:00:20 浏览: 63
要在Ubuntu 20上安装Cartographer gRPC,您可以按照以下步骤操作:
1. 安装依赖项:
- 打开终端并输入以下命令:
```
sudo apt update
sudo apt install cmake g++ git google-mock libboost-all-dev libcairo2-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.3-dev libprotobuf-dev libprotobuf-dev libssl-dev ninja-build protobuf-compiler python3-sphinx python3-breathe python3-sphinx-rtd-theme ros-noetic-urdfdom-py ros-noetic-urdfdom-headers python3-venv
```
- 输入您的密码以完成依赖项的安装。
2. 克隆Cartographer存储库:
- 在终端中输入以下命令以克隆Cartographer存储库:
```
git clone https://github.com/cartographer-project/cartographer.git
```
3. 编译和安装Cartographer:
- 进入刚刚克隆的Cartographer目录:
```
cd cartographer
```
- 创建一个新的构建目录:
```
mkdir build
cd build
```
- 运行cmake命令以配置构建:
```
cmake ..
```
- 运行make命令以编译Cartographer:
```
make -j
```
- 输入以下命令以安装Cartographer:
```
sudo make install
```
4. 安装gRPC:
- 运行以下命令以安装gRPC:
```
curl -L https://grpc.io/release/protobuf/protobuf-3.15.7.tar.gz | tar xvz
cd protobuf-3.15.7
mkdir build
cd build
cmake ..
make -j
sudo make install
sudo ldconfig
```
现在您已经成功安装了Cartographer gRPC。要使用它,您可以在终端中调用相应的命令。请确保在使用Cartographer之前详细阅读相关文档和教程。