# Ubuntu_cartographer安装脚本

**Repository Path**: wb197/Ubuntu_cartographer_script

## Basic Information

- **Project Name**: Ubuntu_cartographer安装脚本
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 14
- **Created**: 2022-02-19
- **Last Updated**: 2022-02-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ubuntu18.04安装cartographer以及cartographer_ros

**此文档来源于第三方**

cartographer一直在维护，从之前的tf1到现在melodic版本上的tf2_ros都有更新支持。

而且cartographer所依赖的库也在一直更新，包括abseil-cpp，ceres-solver，protobuf等，其依赖的版本混乱，并不能相互兼容。

经过测试，在2019年的某个版本解决好依赖问题之后，同样的方法在2020年clone新的官方代码就编译出错了。

并且，貌似官方只更新代码，并没有对安装文档进行对应的更新，所以直接按照cartographer/scripts中的安装脚本操作，而又使用最新代码，是必然会出错的。

为了解决此问题，本仓库固化依赖以及cartographer的版本，经过多次测试，该方法有效。

版本固化时间为2020年07月01日16:58:57。

## 安装基础依赖

```bash
# Install the required libraries that are available as debs.
sudo apt-get update
sudo apt-get install -y \
    cmake \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libprotobuf-dev \
    libsuitesparse-dev \
    libwebp-dev \
    ninja-build \
    protobuf-compiler \
    python-sphinx \
```

## 安装abseil-cpp

版本：[lts_2020_02_25](https://github.com/abseil/abseil-cpp/tree/lts_2020_02_25)

```
# Install abseil-cpp
cd  ~/Downloads
git clone https://github.com/abseil/abseil-cpp.git
cd abseil-cpp
git checkout lts_2020_02_25
mkdir build
cd build
cmake ..
make -j2
sudo make install
```



## 安装ceres solver

版本：[1.13.0](https://github.com/ceres-solver/ceres-solver/tree/1.13.0)

```bash
# Install ceres solver
cd  ~/Downloads
git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
git checkout 1.13.0
mkdir build
cd build
cmake ..
make -j2
sudo make install
```



## 安装protobuf

版本：[master@d4c5992352aae1ed18f44c1a40d2149006bf8704](https://github.com/protocolbuffers/protobuf)

```bash
# Install prtobuf 3.0
cd  ~/Downloads
git clone https://github.com/protocolbuffers/protobuf.git
cd protobuf
git checkout d4c5992352aae1ed18f44c1a40d2149006bf8704
mkdir build
cd build
cmake ..
make -j2
sudo make install
sudo ldconfig
```

> 此处注意如果安装完没有执行sudo ldconfig指令时会报错找不到shared libraries protobuf.so.23。

## 安装cartographer

版本：[master@e5894cce1f8047d5c807158711e468b3f5550f1a](https://github.com/cartographer-project/cartographer)

```bash
# Install cartographer

cd  ~/Downloads
git clone https://github.com/cartographer-project/cartographer.git
git checkout e5894cce1f8047d5c807158711e468b3f5550f1a
cd cartographer
mkdir build
cd build
cmake ..
make -j2
sudo make install
```



> 在rk3399下会不存在/usr/lib/aarch64-linux-gnu/libGL.so，导致后续的cartographer_rviz编译失败，链接生成。

```
sudo ln -s /usr/lib/aarch64-linux-gnu/libGL.so.1 /usr/lib/aarch64-linux-gnu/libGL.so
```



## 安装cartographer_ros与编译

版本：[master@be4332b3385b5eea2511d11de5cc6792ecb4af2e](https://github.com/cartographer-project/cartographer_ros)

```bash
# Install cartographer ros
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/cartographer-project/cartographer_ros.git
git checkout be4332b3385b5eea2511d11de5cc6792ecb4af2e
cd ~/catkin_ws
catkin_make -j2
```

> 此处进行编译时请使用catkin_make -j2，如果直接使用catkin_make则会全线程启动编译，会导致内存不足，从而报错编译器内部错误。



## 安装脚本

```
./install.sh
```



## 参考链接

1. [蓝鲸机器人论坛](http://community.bwbot.org/topic/620/cartographer-install-and-demo)
2. [cartograher官方文档](https://google-cartographer.readthedocs.io/en/latest/)
3. [cartographer_ros官方文档](https://google-cartographer-ros.readthedocs.io/en/latest/)