1 准备工作
(1)准备Ubuntu20系统。
(2)安装ROS系统,参考
bash
https://blog.csdn.net/weixin_46123033/article/details/139527141
(3)Cartographer相关软件包和源码下载:
bash
https://gitee.com/mrwangmaomao/cartographer_slam
(4)安装依赖
bash
sudo apt-get update
sudo apt-get install -y \
clang \
cmake \
g++ \
git \
google-mock \
libboost-all-dev \
libcairo2-dev \
libceres-dev \
libcurl4-openssl-dev \
libeigen3-dev \
libgflags-dev \
libgoogle-glog-dev \
liblua5.2-dev \
libsuitesparse-dev \
lsb-release \
ninja-build \
python3-sphinx \
stow
2 编译
编译abseil
bash
cd abseil-cpp
git checkout 215105818dfde3174fe799600bb0f3cae233d0bf # 20211102.0
mkdir build
cd build
cmake -G Ninja \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \
..
ninja
sudo ninja install
cd /usr/local/stow
sudo stow absl
编译protobuf
bash
VERSION="v3.4.1"
# Build and install proto3.
git clone https://github.com/google/protobuf.git
cd protobuf
mkdir build
cd build
cmake -G Ninja \
-DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-DCMAKE_BUILD_TYPE=Release \
-Dprotobuf_BUILD_TESTS=OFF \
../cmake
ninja
sudo ninja install
编译Ceres
bash
cd ceres-solver-1.14.0
mkdir build
cd build
cmake ..
make -j3
make test
sudo make install
编译cartographer
bash
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
CTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install
编译cartographer_ros
bash
catkin_make_isolated --install --use-ninja