ROS Cartographer

官网安装教程-Cartographer ROS Integration

# Install wstool and rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
# Create a new workspace in 'catkin_ws'.
mkdir catkin_ws
cd catkin_ws
wstool init src

# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
#wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
#wstool update -t src

由于ceres-solver的地址为https://ceres-solver.googlesource.com/ceres-solver，不翻墙下载不到，所以创建一个名字为a.rosinstall的文件，内容为：
- git: {local-name: cartographer, uri: 'https://github.com/googlecartographer/cartographer.git'}
- git: {local-name: cartographer_ros, uri: 'https://github.com/googlecartographer/cartographer_ros.git'}
- git: {local-name: ceres-solver, uri: 'https://github.com/ceres-solver/ceres-solver.git', version: '1.13.0'}

所以执行：
wstool merge -t src a.rosinstall
wstool update -t src

# Install proto3.
src/cartographer/scripts/install_proto3.sh

# Install deb dependencies.
# The command 'sudo rosdep init' will print an error if you have already
# executed it since installing ROS. This error can be ignored.
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# Build and install.
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

将

将CMakeLists.txt中的find_package(Eigen3 REQUIRED)
替换成：
include_directories( "/usr/include/eigen3" )
#find_package(Eigen3 REQUIRED)

因为Eigen3全是头文件，所以可以直接在CMakeLists.txt中添加eigen3的路径