Ubuntu 按照官网安装cartographer

官方cartographer安装教程：点我

首先：

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

然后：

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

很有可能会卡在这一句：wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
莫慌，可以进入src文件夹，在 .rosinstall， 在文件中写入：

- git: {local-name: cartographer, uri: 'https://github.com/googlecartographer/cartographer.git', version: '1.0.0'}
- git: {local-name: cartographer_ros, uri: 'https://github.com/googlecartographer/cartographer_ros.git', version: '1.0.0'}
- git: {local-name: ceres-solver, uri: 'https://ceres-solver.googlesource.com/ceres-solver.git', version: '1.13.0'}

然后再执行 wstool update -t src

继续下一步：

src/cartographer/scripts/install_proto3.sh
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

很有可能 sudo rosdep init 出错，那么可以按照这篇博客进行修改：
点我

如果一切顺利，最后：

catkin_make_isolated --install --use-ninja