(1) Installation of cartographer and cartographer ros

It seems that the tutorial on the official website has not been followed. As for the tutorial on the official website, you will have time to test again.

Link: https://blog.csdn.net/TengYun_zhang/article/details/93753468

Specific steps

1. Installation dependencies

sudo apt-get update

sudo apt-get install -y \
    cmake \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libprotobuf-dev \
    libsuitesparse-dev \
    libwebp-dev \
    ninja-build \
    protobuf-compiler \
    python-sphinx

2. Install ceres solver

cd ~/Download
git clone https://github.com/Tengyun-Mo/ceres-solver.git
cd ceres-solver
mkdir build
cd build
cmake ..
make -j4
sudo make install

3. Install prtobuf 3.0

cd ~/Download
git clone https://github.com/google/protobuf.git
cd protobuf
git checkout v3.6.1
mkdir build
cd build
cmake  \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_BUILD_TYPE=Release \
  -Dprotobuf_BUILD_TESTS=OFF \
  ../cmake
make -j4
sudo make install

4. Install cartographer

cd  ~/Download
git clone https://github.com/googlecartographer/cartographer.git
cd cartographer
mkdir build
cd build
cmake ..
make -j4
sudo make install

5. Install cartographer_ros

cd ~/catkin_ws/src     //请修改路径到自己的ROS catkin工作空间
git clone https://github.com/googlecartographer/cartographer_ros.git
cd ..
catkin_make