ubuntu cartographer安装

在Ubuntu上安装Cartographer有以下步骤：
1. 执行以下命令安装Cartographer和相关依赖：

sudo apt-get install ros-<distro>-cartographer*

2. 如果您的版本是Ubuntu 20.04，则还需要安装一些工具：

sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow

3. 创建一个Cartographer的工作空间：

mkdir catkin_ws
cd catkin_ws
wstool init src

4. 下载并安装Cartographer的安装包：

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

5. 编译并安装Cartographer：

catkin_make_isolated --install --use-ninja

6. 运行Cartographer的launch文件，您可以参考以下示例：

<launch>
<node name="cartographer_node" pkg="cartographer_ros" type="cartographer_node" args=" -configuration_directory $(find cartographer_ros)/configuration_files -configuration_basename spirit.lua" output="screen">
<remap from="scan" to="scan" />
</node>
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros" type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
</launch>