Ubuntu16.04配置Cartographer

系统环境配置：ROS Kinetic + Ubuntu16.04 + Cartographer_ros，配置过程中还算顺利，感谢网上一些博主分享的教程

1、安装ROS kinetic

Kinetic安装较为简单，可以在网上直接搜索教程，也可以使用wiki上的教程安装：ROS Kinetic安装.

2、安装依赖项

sudo apt-get install -y google-mock libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev  libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx ros-kinetic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

3、安装ceres

ceres使用版本为1.11，如果是其他版本可能会造成cartographer编译失败，因此如果系统中之前安装过其他版本ceres，可以先进行卸载，然后重新安装ceres 1.11

• ceres卸载：

sudo rm -r /usr/local/lib/cmake/Ceres
sudo rm -rf /usr/local/include/ceres /usr/local/lib/libceres.a

• ceres 1.11下载安装：

git clone https://github.com/hitcm/ceres-solver-1.11.0.git
cd ceres-solver-1.11.0
mkdir build
cd build
cmake ..
make -j4
sudo make install

4、安装 cartographer

git clone https://github.com/hitcm/cartographer.git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install

5、安装cartographer_ros

#首先创建工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
echo "source catkin_ws/devel/setup.bash" >> ~/.bashrc(我使用的是zsh终端，如果为bash终端，则是setup.zsh和~/.bashrc)
source ~/.zshrc

cd ~/catkin_ws/src
git clone https://github.com/hitcm/cartographer_ros.git
cd ~/catkin_ws
catkin_make

6、测试

2D数据集下载链接
运行如下指令：

# 2D (第三个参数为下载数据集路径)
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
# 3D (第三个参数为下载数据集路径)
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/cartographer_3d_deutsches_museum.bag

参考：https://blog.csdn.net/qq_40982681/article/details/91358033