官网推荐配置：
- 64-bit, modern CPU (e.g. 3rd generation i7)
- 16 GB RAM
- Ubuntu 14.04 (Trusty) or 16.04 (Xenial)
本机配置：
- 64-bit, modern CPU (e.g. 4rd generation i5) CPU越强越好
- 8 GB RAM 内存条容量越大越好
- Ubuntu 16.04 (Xenial) ubuntu14.04的安装可以看hitcm的博客，这里主要介绍的是16.04
- GPU Geforce Experience GTX750 显卡当然是越强越好
首先按照创客智造中说的，一步一步来，链接在这里https://www.ncnynl.com/archives/201801/2230.html
安装过程中可能会出现的问题trouble shooting以及一些建议：
1.务必改非线性优化库ceres的网址 （将ceres-solver的uri改为http://github.com/ceres-solver/ceres-solver.git)
#未修改之前
$ cat src/.rosinstall
# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2018-08-29
- git:
local-name: cartographer
uri: https://github.com/googlecartographer/cartographer.git
- git:
local-name: cartographer_ros
uri: https://github.com/googlecartographer/cartographer_ros.git
- git:
local-name: cartographer_turtlebot
uri: https://github.com/googlecartographer/cartographer_turtlebot.git
- git:
local-name: ceres-solver
uri: https://ceres-solver.googlesource.com/ceres-solver.git
version: 1.12.0rc4
$ wstool update -t src
fatal: unable to access 'https://ceres-solver.googlesource.com/ceres-solver.git/': Failed to connect to ceres-solver.googlesource.com port 443: 连接超时
Exception caught during install: Error processing 'ceres-solver' : [ceres-solver] Checkout of https://ceres-solver.googlesource.com/ceres-solver.git version 1.12.0rc4 into /home/dyh/carographer_ws/src/ceres-solver failed.
ERROR in config: Error processing 'ceres-solver' : [ceres-solver] Checkout of https://ceres-solver.googlesource.com/ceres-solver.git version 1.12.0rc4 into /home/dyh/carographer_ws/src/ceres-solver failed.
2.在build和install步骤中的 $catkin_make_isolated --install --use-ninja -j1，-j1可要可不要，依据电脑性能而定
3.2D demo包建议安装在主文件夹下面 /home/用户名，下面是2d demo的地址
https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
4.bag包的运行指令
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/cartographer_paper_deutsches_museum.bag
结果展示：
和论文里面的图一模一样
