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1 准备工作

（1）准备Ubuntu20系统。
（2）安装ROS系统,参考

https://blog.csdn.net/weixin_46123033/article/details/139527141

（3）Cartographer相关软件包和源码下载：

https://gitee.com/mrwangmaomao/cartographer_slam

（4）安装依赖

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

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

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

cd ceres-solver-1.14.0
mkdir build
cd build
cmake ..
make -j3
make test
sudo make install

编译cartographer

cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
CTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install

编译cartographer_ros

catkin_make_isolated --install --use-ninja