注意：protoc版本会影响后续的安装，首先确认系统中有没有protobuf：locate protobuf;如果有，把所有与其相关的文件全部删除，再安装

1:安装ceres_solver
  (1)cmake .. -G Ninja -DCXX11=ON
  (2)ninja
  (3)sudo ninja install

2:安装protobuf3
  (1)cmake -G Ninja -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DCMAKE_BUILD_TYPE=Release -Dprotobuf_BUILD_TESTS=OFF ../cmake
  (2)ninja
  (3)sudo ninja install


3:安装cartographer
  (1)cmake .. -G Ninja
  (2)ninja
  (3)sudo ninja install

3.1刷新安装的库
（1）sudo updatedb

4:在自己的ws下编译cartographer_ros


5:卸载cartographer
(1)locate cartographer
(2)rm所有.h .a bin等文件（/usr/local/share/cartographer /usr/local/include/cartographer /usr/local/bin/）