cartographer+move_base环境搭建

1、安装ninja编译器

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build stow

2、安装依赖

sudo apt-get install -y \
    clang \
    cmake \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libcurl4-openssl-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libsuitesparse-dev \
    lsb-release \
    ninja-build \
    stow

创建一个工作空间， 下载cartographer、cartographer_ros、ceres-solver

mkdir carto_ws
cd carto_ws
wstool init src

可以看到carto_ws/src文件路径下存在一个“.rosinstall”文件。

在“.rosinstall”文件中加入下述内容：

- git:
    local-name: cartographer
    uri: https://github.com/googlecartographer/cartographer.git
    version: 1.0.0
- git:
    local-name: cartographer_ros
    uri: https://github.com/googlecartographer/cartographer_ros.git
    version: 1.0.0

ninja编译

catkin_make_isolated --install --use-ninja

3、出现问题
1）Could not find a package configuration file provided by “absl” with any of
the following names:

abslConfig.cmake
absl-config.cmake
在下载回来的cartographer上有安装absl的脚本

sudo apt-get install stow
sudo chmod +x ~/carto_ws/src/cartographer/scripts/install_abseil.sh
cd ~/carto_ws/src/cartographer/scripts
./install_abseil.sh

2）Could not find a package configuration file provided by “ceres” with any of
the following names:

在下载回来的cartographer上有安装ceres的脚本

可以参考
https://www.guyuehome.com/34165
https://blog.csdn.net/weixin_39458342/article/details/103276265