安装
当然是先去看cartograpger官方文档了，照着说明一步步下来。
执行以下语句会报错，
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
参看古月居说明，
编辑src目录下的.rosinstall
#鉴于github源码在国内访问较慢，可以使用国内码云仓库，在我的仓库中已经设置为公有
vim ./src/.rosinstall
将文件内容修改如下
- git: local-name: cartographer uri: https://gitee.com/moresweet/cartographer.git version: master- git: local-name: cartographer_ros uri: https://gitee.com/moresweet/cartographer_ros.git version: master- git: local-name: ceress-solver uri: https://gitee.com/moresweet/ceres-solver.git
再运行wstool update -t src，成功后会拉下来三套代码。
安装cartographer的依赖
接下来运行如下命令，第一句指令报错的话，不用理会
sudo rosdep init
rosdep update
cd cartographer/scripts/
vim install_proto3.sh
#修改github项目地址为https://gitee.com/shenyinsong_admin/protobuf.git
vim install_abseil.sh
#修改github项目地址为https://gitee.com/moresweet/abseil-cpp.git
./install_proto3.sh
./install_abseil.sh
然后回到工作空间，用ninja编译
cd ~/ROS_WS
catkin_make_isolated ——install ——use-ninja
测试运行
cd ~
wget https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/cartographer_paper_deutsches_museum.bag
