Cartographer

 下载依赖包

谷歌开发的地图绘制软件包支持0.2.0版本的ROS1 Kinetic。因此，如果你需要在Kinetic上使用Cartogrpher，你应该下载并构建如下的源代码，而不是安装二进制软件包。有关更详细的安装说明，请参阅官方wiki页面。

sudo apt-get install ninja-build libceres-dev libprotobuf-dev protobuf-compiler libprotoc-dev
cd ~/catkin_ws/src
git clone https://gitee.com/kay2020/cartographer.git
git clone https://gitee.com/kay2020/cartographer_ros.git
cd ~/catkin_ws
src/cartographer/scripts/install_proto3.sh
rm -rf protobuf/
rosdep install --from-paths src --ignore-src -r -y --os=ubuntu:xenial
catkin_make_isolated --install --use-ninja

安装cartographer，找不到 "absl" 解决方法

sudo apt-get install stow
sudo chmod +x ~/catkin_ws/src/cartographer/scripts/install_abseil.sh
cd ~/catkin_ws/src/cartographer/scripts
./install_abseil.sh

 启动Cartographer SLAM节点

source ~/catkin_ws/install_isolated/setup.bash
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer

参考

https://google-cartographer-ros.readthedocs.io/en/latest/#building-installation

https://blog.csdn.net/weixin_44684139/article/details/104708387

https://www.cnblogs.com/gary-guo/p/10419630.html

https://blog.csdn.net/learning_tortosie/article/details/105158858

https://blog.csdn.net/weixin_43262513/article/details/88256762