工作空间名为catkin_cart

1.安装步骤：

　　https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html

2.按照他的步骤来，会在最后编译的时候出错

3.解决思路。

　　删除掉之前安装的cere和protobuf。

4.安装官方提供的cere和protobuf

5.分开编译

　　安装cartographer

　　

cd cartographer
mkdir build
cd build
cmake .. -G Ninja

DProtobuf_DIR="/usr/local/lib/cmake/protobuf/" -DPROTOBUF_INCLUDE_DIR="/usr/local/include/google/protobuf/" -DPROTOBUF_LIBRARY="/usr/local/lib/libprotobuf.a" 

ninja
CTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install

 

 安装carographerROS

sudo apt-get install -y python-wstool python-rosdep ninja-build

cd ~/catkin_cart/src/cartographer_ros
catkin_make_isolated --install --use-ninja -Dcartographer_DIR="/usr/local/share/cartographer/"

vim ~/.bashrc

　source ~/catkin_cart/devel_isolated/setup.bash

source ~/.bashrc

6.

最后再运行

catkin_make_isolated --install --use-ninja就没问题啦