ubuntu18.04安装cartographer系统(实测安装)

此教程是安装ROS教程的续篇，默认已经安装好ROS了。

1. 尝试访问cartographer官网如果可以访问，执行下一步
2. 安装

 sudo apt-get update
 sudo apt-get install ros-melodic-cartographer*  

如果出现包没下载下来，请重复上面的步骤

3. 测试

下载2D数据并测试

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

下载3D数据并测试

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag