1. 安装依赖项

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

  2. 创建一个catkin 工作空间

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    mkdir catkin_ws
    cd catkin_ws
    wstool init src

    在创建catkin工作空间前，可先确定自己的环境变量是否设置正确

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    export | grep ROS

    若出现如下的，说明是正确的

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    declare -x ROSLISP_PACKAGE_DIRECTORIES=""
    declare -x ROS_DISTRO="indigo"
    declare -x ROS_ETC_DIR="/opt/ros/indigo/etc/ros"
    declare -x ROS_MASTER_URI="http://localhost:11311"
    declare -x ROS_PACKAGE_PATH="/opt/ros/indigo/share:/opt/ros/indigo/stacks"
    declare -x ROS_ROOT="/opt/ros/indigo/share/ros"

  3. 下载安装文件

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    wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
    wstool update -t src

    cere-solver无法下载，手动复制到catkin_ws/src目录下。

  4. 安装依赖文件

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    rosdep init
    rosdep update
    rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

    运行(初始化rosdep时）

    rosdep init
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    rosdep update

    若出现ERROR: default sources list file already exists
    则先输入sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
    再输入sudo rosdep init
    然后它会提示你输入rosdep update

  5. 安装与配置

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    catkin_make_isolated --install --use-ninja
    source install_isolated/setup.bash

  6. 测试
    下载后放到${HOME}/Downloads/目录下即可用下面的命令使用。

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    # Download the 2D backpack example bag.
    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
    # Launch the 2D backpack demo.
    roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
    # Download the 3D backpack example bag.
    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag
    # Launch the 3D backpack demo.
    roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag
    # Download the Revo LDS example bag.
    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
    # Launch the Revo LDS demo.
    roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag
    # Download the PR2 example bag.
    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag
    # Launch the PR2 demo.
    roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag# Download the Taurob Tracker example bag.
    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag
    # Launch the Taurob Tracker demo.
    roslaunch cartographer_ros demo_taurob_tracker.launch bag_filename:=${HOME}/Downloads/taurob_tracker_simulation.bag