ubuntu20安装cartographer

安装Cartographer的步骤如下：

1. 安装依赖项

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build stow

2. 创建一个工作空间

mkdir catkin_ws
cd catkin_ws
wstool init src

3. 添加Cartographer源

wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall

4. 更新源

wstool update -t src

5. 安装依赖项

src/cartographer/scripts/install_proto3.sh
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

6. 编译和安装

catkin_make_isolated --install --use-ninja

7. 设置环境变量

echo "source ~/catkin_ws/install_isolated/setup.bash" >> ~/.bashrc
source ~/.bashrc

完成上述步骤后，你就可以在Ubuntu20上安装Cartographer了。