cartographer Ubuntu16.04 ros环境配置

首先要正确安装 ROS ，然后第12步应注意，proto的版本是个关键容易出错。

1、添加ROS源
http:/packages.ros.org/ros/ubuntu xenial main   (自己搜一下怎么添加)
sudo apt-get update     更新源。
2、Setup your sources.list
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
3、Set up your keys-
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
4、Installation
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
5、Initialize rosdep
sudo rosdep init
sudo rosdep fix-permissions
rosdep update
6、Environment setup
It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.
If you just want to change the environment of your current shell, instead of the above you can type:
source /opt/ros/kinetic/setup.bash
If you use zsh instead of bash you need to run the following commands to set up your shell:
echo "source /opt/ros/kinetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc
7、Dependencies for building packages
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
8、运行小乌龟测试
新建一个终端，输入$ roscore
新建一个终端，输入$ rosrun turtlesim turtlesim_node
新建一个终端，输入$ rosrun turtlesim turtle_telelop_key
移动上下左右键， 第三个终端放在最上层 ， 看到小乌龟移动了。

9、安装Cartographer基本必须的库
sudo apt-get update
sudo apt-get install -y \
    cmake \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libsuitesparse-dev \
    libwebp-dev \
    ninja-build \
    python-sphinx
10、安装wstool和rosdep
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
11、创建workspace
mkdir catkin_ws
cd catkin_ws
wstool init src
12、下载google cartographer源码（vpn）也可以从github直接下载
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall

cd catkin_ws/src
将最后一个git来源网址由https://ceres-solver.googlesource.com/ceres-solver.git 改为https://github.com/ceres-solver/ceres-solver.git

wstool update -t src

# Install proto3.
src/cartographer/scripts/install_proto3.sh

# Install deb dependencies.
# The command 'sudo rosdep init' will print an error if you have already
# executed it since installing ROS. This error can be ignored.
sudo rosdep init

13、安装deb依赖
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${kinetic} -y
14、编译并安装
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash(设置路径）
15、每次修改了lua代码都需要运行下面代码进行编译和设置路径
cd slam_ws
catkin_make_isolated --install --use-ninja进行编译
source install_isolated/setup.bash设置路径
16、Launch
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=/home/dmchen/slam_ws/src/cartographer_ros/cartographer_ros/bag/1014.bag
其中我们自己的数据包包1014.bag存储路径为/home/dmchen/slam_ws/src/cartographer_ros/cartographer_ros/bag
数据包下载地址：https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag
以后 第一次打开终端运行时 需要 source install_isolated/setup.bash （调用ROS内部命令）

测试是否安装成功：# 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/with_intensities/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