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