说明

官方文档
由于Ubuntu16.04已经是很老的系统，如果直接按照Cartographer官方安装文档安装会出现代码编译失败的问题，本文给出了解决这些问题的办法。正常情况下执行本文给出的安装方法即可成功安装。

依赖安装

# 这里和官方一致
# Install the required libraries that are available as debs.
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

sudo apt install protobuf-compiler

abseil安装

# abseil安装需要切换版本
git clone https://github.com/abseil/abseil-cpp.git
cd abseil-cpp
git checkout 20200225 # 这里针对本机系统版本做了调整（UBUNTU16.04）,否则可能编译不了
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

protobuf安装

# protobuf安装和官方一致
VERSION="v3.4.1"

# Build and install proto3.
git clone https://github.com/google/protobuf.git
cd protobuf
git checkout tags/${VERSION}
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

cartographer安装

# cartographer安装需要切换版本
git clone https://github.com/cartographer-project/cartographer
# Build and install Cartographer.

cd cartographer
git checkout 1.0.0 # 这里特意切换到了老版本，太新的版本会编译失败
mkdir build
cd build
cmake .. -G Ninja
ninja
CTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install