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1.安装依赖性：
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.安装ceres slover,版本1.11（如果安装其他版本，需要先卸载，否则容易报错）
git clone https://github.com/hitcm/ceres-solver-1.11.0.git cd ceres-solver-1.11.0 mkdir build cd build cmake .. make -j4 //编译的时候会和eigen3.3发生冲突，需要重新安装eigen3.2。但是eigen3.2会导致后面cartographer报错，此时再换回Eigen3.1就可以 sudo make install
3.安装protobuf
# 首先安装protobuf sudo apt-get install autoconf autogen git clone https://github.com/protocolbuffers/protobuf.git cd protobuf git submodule update --init --recursive ./autogen.sh ./configure make # 这一步可能会报错，无视就好 make check sudo make install sudo ldconfig # refresh shared library cache.
4.安装Cartographer
git clone https://github.com/hitcm/cartographer.git cd cartographer mkdir build cd build cmake .. -G Ninja ninja ninja test sudo ninja install
5.安装Cartographer_ros
#初始化工作空间 mkdir -p ~/cartogra_ros/src cd ~/cartogra_ros/src catkin_init_workspace echo "source cartogra_ros/devel/setup.bash" >> ~/.bashrc source ~/.bashrc #安装cartographer_ros cd ~/cartogra_ros/src git clone https://github.com/hitcm/cartographer_ros.git cd ~/cartogra_ros catkin_make
5.数据测试
数据源：
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
6.Revo LDS demo
数据集：https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
运行：roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag
原文链接：https://blog.csdn.net/pj18862486309/article/details/100531507
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