文档链接：https://google-cartographer.readthedocs.io/en/latest/
cartographer_ros安装
建议单独新建一个工作空间安装cartographer，例如mkdir catkin_google_ws安装在这个文件夹下。
1.安装依赖性
$ sudo apt-get install -y \
clang \
g++ \
git \
google-mock \
libboost-all-dev \
libcairo2-dev \
libcurl4-openssl-dev \
libeigen3-dev \
libgflags-dev \
libgoogle-glog-dev \
liblua5.2-dev \
libsuitesparse-dev \
ninja-build \
python-sphinx
安装ceres-solver
Ceres Solver是一个用于建模和解决大型复杂优化问题的开源C ++库。它是一个功能丰富，成熟且高性能的库，自2010年以来一直在被Google所应用。Ceres Solver可以解决两种问题：
- 具有边界约束的非线性最小二乘问题。
- 一般无约束优化问题。
在任意路径下：
$ git clone https://github.com/ceres-solver/ceres-solver.git
$ mkdir ceres-solver/build
$ cd ceres-solver/build
$ cmake ..
$ make -j2
$ sudo make install
安装cartographer
Cartographer是一个跨多个平台和传感器配置提供2D和3D实时同步定位和建图（SLAM）的系统。
$ git clone https://github.com/googlecartographer/cartographer.git
$ mkdir cartographer/build
$ cd cartographer/build
$ cmake ..
$ make -j2
$ sudo make install
或者使用浏览器从GitHub下载后安装
$ 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
安装cartographer_ros
catkin_google_ws/src目录下：
$ git clone https://github.com/googlecartographer/cartographer_ros.git
$ cd ..
$ catkin_make
使用测试数据运行cartographer
运行2D测试数据
$ wget -P ~/download/slam_data/catographer https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
$ roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:= ~/download/slam_data/ cartographer /cartographer_paper_deutsches_museum.bag
运行3D测试数据
$ wget -P ~/download/slam_data/cartographer https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag
$ roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:= ~/download/slam_data/cartographer/ b3-2016-04-05-14-14-00.bag