cartographer编译

1.拷贝catkin_ws,ceres-solver.tar.gz,protobuf.tar.gz到home目录下
2.解压ceres-solver.tar.gz到catkin_ws/src目录下,解压protobuf.tar.到home目录下
3.sudo apt-get update
4.sudo apt-get install -y python-wstool python-rosdep ninja-build
5.cd catkin_ws
6.wstool init src
7.执行src/cartographer/scripts/install_proto3.sh脚本安装proto3
8.sudo rosdep init
9.rosdep update
10.在catkin_ws目录下 rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
11.在catkin_ws目录下 catkin_make_isolated --install --use-ninja