cartographer学习（1）——编译和运行

cartographer官方的编译文档的地址为

https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html

https://google-cartographer.readthedocs.io/en/latest/index.html

cartographer所依赖库有abseil-cpp、ceres-solver、protobuf 此外运行cartographer_ros还需要将cartographer包安装到系统里 这里所需要的4个包已经压缩好放到网盘里了 下载下来按照以下步骤进行环境的搭建

sudo apt-get install 
 clang 
 cmake 
 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 
 python-wstool 
 python-rosdep 
 python-sphinx 
 libatlas-base-dev

-map_filestem