cartographer安装_cartographer安装

安装Cartographer有一些先决条件需要满足，包括CMake、Google Protocol Buffers和Google的catkin工具。以下是在Ubuntu Linux上安装Cartographer的步骤：

1. 安装依赖项：

sudo apt-get update
sudo apt-get install -y \
    cmake \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libprotobuf-dev \
    libsuitesparse-dev \
    lsb-release \
    ninja-build \
    protobuf-compiler \
    python-sphinx

2. 安装Google的catkin工具：

sudo apt-get install -y python-rosdep python-catkin-tools

3. 创建一个工作空间并初始化catkin：

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin init

4. 克隆Cartographer代码库并检查最新版本：

cd src/
git clone https://github.com/cartographer-project/cartographer.git
cd cartographer/
git checkout master

5. 安装依赖项和编译：

# 安装依赖项
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# 编译
catkin build cartographer_ros -DCATKIN_ENABLE_TESTING=OFF

6. 配置环境变量：

source ~/catkin_ws/devel/setup.bash

现在，您已经成功地安装了Cartographer。