ros-foxy安装cartographer

apt安装

sudo apt install ros-${ROS_DISTRO}-cartographer
sudo apt install ros-${ROS_DISTRO}-cartographer-ros

源码安装

安装依赖

# wstool related
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
 
# ceres related
sudo apt-get install cmake
sudo apt-get install libgoogle-glog-dev libgflags-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
 
# cartographer related
sudo apt install lua5.2 liblua5.2-dev libluabind-dev
sudo apt install libprotobuf-dev protobuf-compiler
sudo apt install libcairo2-dev

编译源码

foxy可以使用dashing的代码

# clone ros2 source
mkdir -p ~/cartographer_ws2/src
cd ~/cartographer_ws2/src
git clone -b ros2 --single-branch https://github.com/ros2/cartographer_ros.git
cd ~/cartographer_ws2
wstool init src
wstool merge -t src src/cartographer_ros/cartographer_ros.rosinstall
wstool update -t src
colcon build