# cartographer_environment

**Repository Path**: rugels/cartographer_environment

## Basic Information

- **Project Name**: cartographer_environment
- **Description**: cartographer环境配置
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2023-07-20
- **Last Updated**: 2025-01-11

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

教程来源：https://www.guyuehome.com/35853

搬砖不易，保护原创！！！

#### 安装依赖包

```bash
sudo apt-get update

sudo apt-get install -y google-mock libboost-all-dev  libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev  libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx  ros-melodic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev libpcl-dev pcl-tools automake
```

注意：需替换为自己的ROS版本，目前是melodic+python2，ubuntu 20 + Noetic注意使用Python3

#### **安装ceres solver**

```bash
cd ceres-solver
mkdir build
cd build
cmake ..
make -j4
sudo make install
```

#### 安装protobuf 3.0

```bash
cd protobuf
git checkout v3.6.1
mkdir build
./autogen.sh
./configure
make -j2
sudo make install
sudo ldconfig
```

#### **安装 abseil-cpp**

```bash
#打开abseil-cpp包里的cmakelists添加c++11支持
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS } -std=c++11")

mkdir build && cd build
cmake .. -DBUILD_SHARED_LIBS=ON
make
sudo make install
```

#### **安装 cartographer**

```bash
cd cartographer
mkdir build
cd build
cmake ..
make -j4
sudo make install
```