前言

记录ubuntu18.04下安装运行cartographer。

1.安装依赖

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build stow
sudo apt-get install cmake
sudo apt-get install build-essential
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install lua5.2

2.下载功能包

参考谷歌链接：

mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src

虽然有点慢，但尽可能的从谷歌链接中下载cartographer和cartographer_ros，对于ceres-slover可以在github上下载,编译安装，ceres-slover链接。

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

3.下载安装abseil-cpp

这里我没有用cartographer中src/cartographer/scripts下的install_abseil.sh安装，而是从abseil链接中下载，因此以下的安装编译仅针对从该链接下载的abseil-cpp。

cd abseil-cpp
mkdir build
cmake ..
make 
sudo make install

#删除build，新建build。
mkdir build && cd build
cmake ..  -DBUILD_SHARED_LIBS=ON
make
sudo make install

4.安装cartographer_ros依赖

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# Only on Ubuntu 16 / ROS Kinetic: src/cartographer/scripts/install_proto3.sh

5.编译安装。

catkin_make_isolated --install --use-ninja

6.下载bag包测试。

[ERROR] [1646225605.588546642, 1432647017.439283900]: PluginlibFactory: The plugin for class 'Submaps' failed to load.  Error: Failed to load library /home/XXX/catkin_ws/install_isolated
/lib//libcartographer_rviz.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML.
 Error string: Could not load library (Poco exception = libabsl_synchronization.so.0: 无法打开共享对象文件: 没有那个文件或目录)
 
#解决：修改链接库
sudo gedit /etc/ld.so.conf
#在里面添加下面两行指令：
include /etc/ld.so.conf.d/*.conf
/usr/local/lib

sudo /sbin/ldconfig

参考：博主：__铭天的解决方案。

下载测试：

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag