史上最全Cartographer安装解析，ubuntu16.04环境下 Cartographer ROS Integration安装解析

    跟着谷歌官网安装步骤来安装Cartographer without ros 没啥问题，Integration版本就出现一大堆问题，在网上也没有找到类似的，于是耗费数日，终于成功，这里给大家分享一下经验，如果英文好的朋友可以直接查看以下各个参考网址：

    首先是万恶的cartographer官网地址：http://google-cartographer-ros.readthedocs.io/en/latest/

    ros官网wstool说明：http://wiki.ros.org/wstool

    ros官网rosdep说明：http://wiki.ros.org/rosdep

    ninja官网说明：https://ninja-build.org

    注意carographer对ros版本有所要求Indigo或者Kinetic，这里我们选择较新的Kinetic版本

    首先设置源能够并安装ros-kinetic-desktop-full

  对于国内，推荐使用清华源，各源设置详情参考：
http://wiki.ros.org/ROS/Installation/UbuntuMirrors
 这里我们：

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update

//ros构建项目的依赖项
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

sudo apt-get install ros-kinetic-desktop-full

  结下来参考Cartographer官网教程，前几步都没啥问题

//安装wstool rosdep ninja

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

mkdir catkin_ws
cd catkin_ws
wstool init src

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

直到上面最后一步，可能会报出ceres-solver无法获取，不必慌张，cd catkin_ws/src/之后 vim .rosinstall,将最后一个git来源网址由https://ceres-solver.googlesource.com/ceres-solver.git改为https://github.com/ceres-solver/ceres-solver.git，经过实验，这一步lantern和xx-net都无法从googlesource.com网站获取ceres-solver，还是老老实实改为github吧，这里直接复制粘贴可能会出现格式不对的错误提示，如果出现则手动输入即可。

重新：

wstool update -t src

 继续往下：

# Install proto3.
src/cartographer/scripts/install_proto3.sh

# Install deb dependencies.
# The command 'sudo rosdep init' will print an error if you have already
# executed it since installing ROS. This error can be ignored.
sudo rosdep init

rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

可能会出现：

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies (ROS distro is not set. Make sure `ROS_DISTRO` environment variable is set, or use `--rosdistro` option to specify the distro, e.g. `--rosdistro indigo`):

这里说的是环境变量ROS_DISTRO没有设置，ROS_DISTRO是表明ros版本的变量，根据ros官网指南设置环境变量：

 

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

继续：

rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

漫长安装后，正确会出现：

#All required rosdeps installed successfully

继续往下：

# Build and install.
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

接下来测试是否安装成功：

# Download the 2D backpack example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

# Launch the 2D backpack demo.
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

# Download the 3D backpack example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag

# Launch the 3D backpack demo.
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag