安装cartographer noetic

安装Cartographer Noetic的方法如下：
1. 创建一个工作空间：在终端中输入以下命令：

   mkdir -p ~/catkin_google_ws/src
   cd ~/catkin_google_ws/src
   catkin_init_workspace

2. 下载Cartographer和Cartographer ROS源代码：在终端中输入以下命令：

   cd ~/catkin_google_ws/src
   git clone https://github.com/cartographer-project/cartographer.git
   git clone https://github.com/cartographer-project/cartographer_ros.git

3. 安装依赖项：在终端中输入以下命令：

   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 \
      liblua5.3-dev \
      libprotobuf-dev \
      libqt4-dev \
      libqt4-opengl-dev \
      libssl-dev \
      libtinyxml-dev \
      ninja-build \
      protobuf-compiler \
      python3-pip \
      python3-setuptools \
      python3-wheel \
      python3-yaml \
      ros-noetic-catkin \
      ros-noetic-geodesy \
      ros-noetic-geographic-msgs \
      ros-noetic-pcl-ros \
      ros-noetic-ros \
      ros-noetic-ros-base \
      ros-noetic-rosbag \
      ros-noetic-rosbag-storage \
      ros-noetic-roscpp \
      ros-noetic-roscpp-serialization \
      ros-noetic-roscpp-traits \
      ros-noetic-roslaunch \
      ros-noetic-roslib \
      ros-noetic-rospack \
      ros-noetic-rosunit \
      ros-noetic-tf \
      ros-noetic-urdf \
      ros-noetic-urdfdom-py \
      subversion \
      wget

4. 编译和安装Cartographer和Cartographer ROS：在终端中输入以下命令：

   cd ~/catkin_google_ws
   catkin_make_isolated --install --use-ninja

5. 设置环境变量：在终端中输入以下命令：

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

现在，您已经成功安装了Cartographer Noetic。您可以根据自己的需求使用Cartographer进行建图操作。