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cartographer安装
- 安装依赖
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
- 更新相关分支代码
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
- 如果遇到问题，分别安装。
- 下载cartographer git
链接: https://pan.baidu.com/s/10RKIrhebxlsT8uz8Q-_wgw
提取码: emep - 安装protobuf
sudo apt-get install autoconf automake libtool curl make g++ unzip
- 下载protobuf git代码，因为如果是用cartographer git的话速度慢，而且要跨域下载，估计下载不了
git clone https://github.com/protocolbuffers/protobuf.git
链接: https://pan.baidu.com/s/1ssLjfHvuiMveJDd-xOHIdQ
提取码: 7ev7
cd protobuf
git submodule update --init --recursive
./autogen.sh
- make
./configure
make
make check
sudo make install
sudo ldconfig # refresh shared library cache.
- 其中相关的资源是
链接: https://pan.baidu.com/s/1xsXP3u5_jYevsdF1nkWiSg
提取码: 68k9 - cartographer安装流程，参考官网：https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html#building-installation
- protobuf安装流程，参考官方说明：https://github.com/protocolbuffers/protobuf/blob/master/src/README.md