cartographer安装
2. 建工作空间
3. 下载cartographer、cartographer_ros、ceres源码
yhexie@ubuntu:~$ sudo apt-get install -y python-wstool python-rosdep ninja-build[sudo] password for yhexie: Reading package lists... Done Building dependency tree Reading state information... Done python-rosdep is already the newest version (0.11.8-1). python-rosdep set to manually installed. python-wstool is already the newest version (0.1.13-1). The following NEW packages will be installed: ninja-build 0 upgraded, 1 newly installed, 0 to remove and 340 not upgraded. Need to get 84.8 kB of archives. After this operation, 271 kB of additional disk space will be used. Get:1 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 ninja-build amd64 1.5.1-0.1ubuntu1 [84.8 kB] Fetched 84.8 kB in 3s (22.0 kB/s) Selecting previously unselected package ninja-build. (Reading database ... 231935 files and directories currently installed.) Preparing to unpack .../ninja-build_1.5.1-0.1ubuntu1_amd64.deb ... Unpacking ninja-build (1.5.1-0.1ubuntu1) ... Processing triggers for man-db (2.7.5-1) ... Setting up ninja-build (1.5.1-0.1ubuntu1) ... yhexie@ubuntu:~$ mkdir catkin_ws yhexie@ubuntu:~$ cd catkin_ws yhexie@ubuntu:~/catkin_ws$ wstool init src Writing /home/yhexie/catkin_ws/src/.rosinstall update complete. yhexie@ubuntu:~/catkin_ws$ cd ./src yhexie@ubuntu:~/catkin_ws/src$ git clone https://github.com/googlecartographer/cartographer Cloning into ‘cartographer‘... remote: Counting objects: 6657, done. remote: Compressing objects: 100% (65/65), done. remote: Total 6657 (delta 49), reused 45 (delta 25), pack-reused 6566 Receiving objects: 100% (6657/6657), 2.77 MiB | 110.00 KiB/s, done. Resolving deltas: 100% (5324/5324), done. Checking connectivity... done. yhexie@ubuntu:~/catkin_ws/src$ git clone https://github.com/googlecartographer/cartographer_ros Cloning into ‘cartographer_ros‘... remote: Counting objects: 2816, done. remote: Compressing objects: 100% (8/8), done. remote: Total 2816 (delta 3), reused 0 (delta 0), pack-reused 2808 Receiving objects: 100% (2816/2816), 826.08 KiB | 14.00 KiB/s, done. Resolving deltas: 100% (2044/2044), done. Checking connectivity... done. yhexie@ubuntu:~/catkin_ws/src$ git clone https://github.com/ceres-solver/ceres-solver Cloning into ‘ceres-solver‘... remote: Counting objects: 10659, done. remote: Compressing objects: 100% (25/25), done. remote: Total 10659 (delta 12), reused 22 (delta 8), pack-reused 10622 Receiving objects: 100% (10659/10659), 11.78 MiB | 24.00 KiB/s, done. Resolving deltas: 100% (6437/6437), done. Checking connectivity... done.
