0.安裝所有依賴項

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-indigo-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

1.首先安裝ceres solver，選擇的版本是1.11,路徑隨意

1. git clone https://github.com/hitcm/ceres-solver-1.11.0.git

2. cd ceres-solver-1.11.0/build

3. cmake ..

4 . make

5. sudo make install

2.然後安裝 cartographer,路徑隨意

1. git clone https://github.com/hitcm/cartographer.git

2 . cd cartographer/build

3. cmake ..

4 . make

5. sudo make install

3.安裝cartographer_ros。

mkdir ~/catkin_ws/src

cd ~/catkin_ws/src

git clone https://github.com/hitcm/cartographer_ros.git

然後到catkin_ws下面運行catkin_make即可:

cd ..

catkin_make

(=。=，如果編譯過程出錯internal compiler error: Killed，請看此鏈接https://blog.csdn.net/qq_29573053/article/details/69665996)

4.數據下載測試

2d數據，大概500M，用迅雷下載

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

3d數據，8G左右，同樣用迅雷下載

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

有同學反映上面鏈接失效了，請用下面的即可。

https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag

然後運行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

剛開始使用ROS的同學運行下面兩句是無法工作的，可能出現的錯誤如下。

[demo_backpack_2d.launch] is neither a launch file in package [cartographer_ros] nor is [cartographer_ros] a launch file name
The traceback for the exception was written to the log file

這種錯誤的主要原因是ros的catkin_ws配置問題，可以運行rospack profile試試。

實在不行還有如下所示的兩種解決方法。推薦第二種。

最終結果如下圖，左側為2d,右側為3d。

Good luck!關於代碼的原理解析，接下來的文章可能會詳細探討。

cartographer安裝--Ubuntu14.04--indigo