ubuntu16.04 mounting ROS + cartographer

1. Installation dependency:

　　sudo apt-get install -y google-mock libboost-all-dev  libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev  libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx  ros-kinetic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

2. Install ceres slover, version 1.11

https://github.com/hitcm/ceres-solver-1.11.0.git clone git
cd-Ceres-Solver 1.11.0
mkdir Build
cd Build
cmake ..
the make -j4 // compile time will occur and eigen3.3 conflict, you need to reinstall eigen3.2
sudo the make install

3. Install Cartographer

git clone https://github.com/hitcm/cartographer.git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install

4. Installation Cartographer_ros

# Initialize workspace
mkdir -p ~ / cartogra_ros / src
cd ~ / cartogra_ros / src
catkin_init_workspace
echo "Source cartogra_ros / devel / setup.bash" >> ~ / .bashrc
Source ~ / .bashrc

# installation cartographer_ros
cd ~ / cartogra_ros / src
clone https://github.com/hitcm/cartographer_ros.git Git
CD ~ / cartogra_ros
catkin_make

5. Test Data

data source:

　　2D：https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

　　3D：https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag

运行launch文件即可
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/cartographer_3d_deutsches_museum.bag