**此文档需提前安装ROS--Noetic,如若未安装,可运行以下命令进行一键安装(感谢鱼香大佬)**
```
wget http://fishros.com/install -O fishros && . fishros
```
## 一、环境配置
### 1.修改/etc/hosts
```
sudo gedit /etc/hosts
```
具体ip地址自行通过ip查询网站搜索,并将ip与以下两个域名对应,添加到hosts文件中
```
ip raw.githubusercontent.com
ip www.github.com
```
### 2.修改sphinx版本
```
pip3 install sphinx==6.1.3
```
------
## 二、编译构建
参考[官方文档]([Compiling Cartographer ROS — Cartographer ROS documentation (google-cartographer-ros.readthedocs.io)](https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html))
### 1.安装必要的构建工具
```
sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
```
### 2.设置工作区
```
mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
```
### 3.安装所需要的包
```
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
```
### 4.安装abseil-cpp库
```
bash src/cartographer/scripts/install_abseil.sh
```
### 5.编译构建
```
catkin_make_isolated --install --use-ninja
```
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