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说明

官方文档
由于Ubuntu16.04已经是很老的系统，如果直接按照Cartographer官方安装文档安装会出现代码编译失败的问题，本文给出了解决这些问题的办法。正常情况下执行本文给出的安装方法即可成功安装。

依赖安装

# 这里和官方一致
# Install the required libraries that are available as debs.
sudo apt-get update
sudo apt-get install -y \clang \cmake \g++ \git \google-mock \libboost-all-dev \libcairo2-dev \libceres-dev \libcurl4-openssl-dev \libeigen3-dev \libgflags-dev \libgoogle-glog-dev \liblua5.2-dev \libsuitesparse-dev \lsb-release \ninja-build \python3-sphinx \stowsudo apt install protobuf-compiler

abseil安装

# abseil安装需要切换版本
git clone https://github.com/abseil/abseil-cpp.git
cd abseil-cpp
git checkout 20200225 # 这里针对本机系统版本做了调整（UBUNTU16.04）,否则可能编译不了
mkdir build
cd build
cmake -G Ninja \-DCMAKE_BUILD_TYPE=Release \-DCMAKE_POSITION_INDEPENDENT_CODE=ON \-DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \..
ninja
sudo ninja install
cd /usr/local/stow
sudo stow absl

protobuf安装

# protobuf安装和官方一致
VERSION="v3.4.1"# Build and install proto3.
git clone https://github.com/google/protobuf.git
cd protobuf
git checkout tags/${VERSION}
mkdir build
cd build
cmake -G Ninja \-DCMAKE_POSITION_INDEPENDENT_CODE=ON \-DCMAKE_BUILD_TYPE=Release \-Dprotobuf_BUILD_TESTS=OFF \../cmake
ninja
sudo ninja install

cartographer安装

# cartographer安装需要切换版本
git clone https://github.com/cartographer-project/cartographer
# Build and install Cartographer.cd cartographer
git checkout 1.0.0 # 这里特意切换到了老版本，太新的版本会编译失败
mkdir build
cd build
cmake .. -G Ninja
ninja
CTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install