CartoGrapher安装

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cartographer安装

1. 先装好wstoolrosdep、ninja

2. 建工作空间

3. 下载cartographer、cartographer_ros、ceres源码

[email protected]:~$ sudo apt-get install -y python-wstool python-rosdep ninja-build[sudo] password for yhexie: 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
python-rosdep is already the newest version (0.11.8-1).
python-rosdep set to manually installed.
python-wstool is already the newest version (0.1.13-1).
The following NEW packages will be installed:
  ninja-build
0 upgraded, 1 newly installed, 0 to remove and 340 not upgraded.
Need to get 84.8 kB of archives.
After this operation, 271 kB of additional disk space will be used.
Get:1 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 ninja-build amd64 1.5.1-0.1ubuntu1 [84.8 kB]
Fetched 84.8 kB in 3s (22.0 kB/s)      
Selecting previously unselected package ninja-build.
(Reading database ... 231935 files and directories currently installed.)
Preparing to unpack .../ninja-build_1.5.1-0.1ubuntu1_amd64.deb ...
Unpacking ninja-build (1.5.1-0.1ubuntu1) ...
Processing triggers for man-db (2.7.5-1) ...
Setting up ninja-build (1.5.1-0.1ubuntu1) ...
[email protected]:~$ mkdir catkin_ws
[email protected]:~$ cd catkin_ws
[email protected]:~/catkin_ws$ wstool init src
Writing /home/yhexie/catkin_ws/src/.rosinstall

update complete.
[email protected]:~/catkin_ws$ cd ./src
[email protected]:~/catkin_ws/src$ git clone https://github.com/googlecartographer/cartographer
Cloning into ‘cartographer‘...
remote: Counting objects: 6657, done.
remote: Compressing objects: 100% (65/65), done.
remote: Total 6657 (delta 49), reused 45 (delta 25), pack-reused 6566
Receiving objects: 100% (6657/6657), 2.77 MiB | 110.00 KiB/s, done.
Resolving deltas: 100% (5324/5324), done.
Checking connectivity... done.
[email protected]:~/catkin_ws/src$ git clone https://github.com/googlecartographer/cartographer_ros
Cloning into ‘cartographer_ros‘...
remote: Counting objects: 2816, done.
remote: Compressing objects: 100% (8/8), done.
remote: Total 2816 (delta 3), reused 0 (delta 0), pack-reused 2808
Receiving objects: 100% (2816/2816), 826.08 KiB | 14.00 KiB/s, done.
Resolving deltas: 100% (2044/2044), done.
Checking connectivity... done.
[email protected]:~/catkin_ws/src$ git clone https://github.com/ceres-solver/ceres-solver
Cloning into ‘ceres-solver‘...
remote: Counting objects: 10659, done.
remote: Compressing objects: 100% (25/25), done.
remote: Total 10659 (delta 12), reused 22 (delta 8), pack-reused 10622
Receiving objects: 100% (10659/10659), 11.78 MiB | 24.00 KiB/s, done.
Resolving deltas: 100% (6437/6437), done.
Checking connectivity... done.

  

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