Cartographer安装

合集 - SLAM(55)

1.个人资源索引2018-03-032.SLAM学习笔记（1）基本概念2015-08-063.SLAM学习笔记（2）SLAM算法2015-08-214.[ROS]2 尝试编译OrbSLAM2016-01-185.[ROS]1 小乌龟2016-01-186.SLAM最近的工作2015-11-057.SLAM学习笔记（3）相关概念2015-09-168.[SLAM]2D激光线特征提取2016-07-169.[SLAM] GMapping SLAM源码阅读（草稿）2016-07-0110.[QGLViewer]First Demo2016-06-2911.SLAM数据集2016-06-2312.[SLAM]2D激光扫描匹配方法2016-06-1513.[g2o]一个备忘2016-04-2114.[ROS] slam_gmapping2016-01-2415.[ROS]3 Linux编程练习2016-01-2016.Linux学习和ROS安装（1）2017-12-1917.小豆包的学习之旅：机器人定位2017-05-0218.小豆包的学习之旅：传感器观测模型2017-04-2119.Kinect2.0相机标定2017-04-1020.小豆包的学习之旅：里程计运动模型2017-04-0321.小豆包的学习之旅：入门篇2017-04-0222.Kinect2.0点云数据获取2017-03-3023.[硬件]Robot运动控制2017-03-2224.[硬件]Urg_viewer数据读取2017-03-1425.[硬件]三维点云数据获取2017-03-0426.Kinect2.0获取数据2017-02-1527.ndt histogram_direction2016-09-0828.rplidar & hector slam without odometry2016-08-2629.rplidar测试2016-08-1230.[原创]NDT方法在SLAM中的应用2016-08-0831.[SLAM]Karto SLAM算法学习（草稿）2016-07-2232.ROS学习备忘2018-07-1833.[ROS]激光驱动安装2018-07-1634.OrbSLAM2采集点云数据2018-03-2635.Cartographer源码阅读(8)：imu_tracker2018-03-2136.[硬件]点云数据采集22018-03-1937.Cartographer源码阅读(9)：图优化的前端——闭环检测2018-03-0838.Cartographer源码阅读(7)：轨迹推算和位姿推算的原理2018-03-0839.Ethzasl MSF源码阅读(3)：MSF_Core和PoseMeasurement2018-03-0740.Ethzasl MSF源码阅读(2)：百川汇海2018-03-0641.Ethzasl MSF源码阅读(1)：程序入口和主题订阅2018-03-0442.Cartographer源码阅读(6)：LocalTrajectoryBuilder和PoseExtrapolator2018-02-2543.Cartographer源码阅读(5)：PoseGraph位姿图2018-02-2444.Cartographer源码阅读(4)：Node和MapBuilder对象22018-01-1045.Cartographer源码阅读(3)：程序逻辑结构2017-12-2946.Cartographer源码阅读(2)：Node和MapBuilder对象2017-12-2847.Cartographer源码阅读(1)：程序入口2017-12-2848.实时Cartographer测试(1) - rplidar2017-12-21

49.Cartographer安装2017-12-20

50.ROS安装（2）2017-12-2051.[ROS]一些传感器数据读取融合问题的思考2017-05-0652.小豆包的学习之旅：占用概率栅格地图和cost-map2017-05-0253.小豆包的学习之旅：开发记录2017-04-2954.[概述]移动机器人自主探索2017-04-1855.MRPT编译2017-04-14

收起

请注意本文的安装日期2017/12/20，如果距离该时间很遥远，请仅作为参考，毕竟cartographer的代码在不断更新，可能会存在很大的变动。

参考文档：

https://google-cartographer.readthedocs.io/en/latest/

https://google-cartographer-ros.readthedocs.io/en/latest/

http://www.cnblogs.com/liangyf0312/p/8028441.html

1. 先装好wstool、rosdep、ninja

2. 建工作空间

3. 下载cartographer、cartographer_ros、ceres源码。这里也下载了rplidar的代码（略）。

https://github.com/ceres-solver/ceres-solver

https://github.com/googlecartographer/cartographer

https://github.com/googlecartographer/cartographer_ros

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yhexie@ubuntu:~$ 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) ... yhexie@ubuntu:~$ mkdir catkin_ws yhexie@ubuntu:~$ cd catkin_ws yhexie@ubuntu:~/catkin_ws$ wstool init src Writing /home/yhexie/catkin_ws/src/.rosinstall   update complete. yhexie@ubuntu:~/catkin_ws$ cd ./src yhexie@ubuntu:~/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. yhexie@ubuntu:~/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. yhexie@ubuntu:~/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.

4. 安装proto3

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yhexie@ubuntu:~$ '/home/yhexie/catkin_ws/src/cartographer/scripts/install_proto3.sh'   VERSION="v3.4.1"   # Build and install proto3. git clone https://github.com/google/protobuf.git Cloning into 'protobuf'... remote: Counting objects: 49432, done. remote: Compressing objects: 100% (37/37), done. remote: Total 49432 (delta 16), reused 13 (delta 4), pack-reused 49387 Receiving objects: 100% (49432/49432), 42.16 MiB | 13.00 KiB/s, done. Resolving deltas: 100% (33298/33298), done. Checking connectivity... done. cd protobuf git checkout tags/${VERSION} Note: checking out 'tags/v3.4.1'.   You are in 'detached HEAD' state. You can look around, make experimental changes and commit them, and you can discard any commits you make in this state without impacting any branches by performing another checkout.   If you want to create a new branch to retain commits you create, you may do so (now or later) by using -b with the checkout command again. Example:     git checkout -b <new-branch-name>   HEAD is now at b04e5cb... Merge pull request #3642 from pherl/3.4.x mkdir build cd build cmake -G Ninja \   -DCMAKE_POSITION_INDEPENDENT_CODE=ON \   -DCMAKE_BUILD_TYPE=Release \   -Dprotobuf_BUILD_TESTS=OFF \   ../cmake -- The C compiler identification is GNU 5.4.0 -- The CXX compiler identification is GNU 5.4.0 -- Check for working C compiler using: Ninja -- Check for working C compiler using: Ninja -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler using: Ninja -- Check for working CXX compiler using: Ninja -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE  -- Found ZLIB: /usr/lib/x86_64-linux-gnu/libz.so (found version "1.2.8") -- Configuring done -- Generating done -- Build files have been written to: /home/yhexie/protobuf/build ninja [206/206] Linking CXX executable protoc sudo ninja install [sudo] password for yhexie: Sorry, try again. [sudo] password for yhexie: [1/1] Install the project... -- Install configuration: "Release" -- Installing: /usr/local/lib/libprotobuf-lite.a -- Installing: /usr/local/lib/libprotobuf.a -- Installing: /usr/local/lib/libprotoc.a -- Installing: /usr/local/bin/protoc -- Installing: /usr/local/lib/pkgconfig/protobuf.pc -- Installing: /usr/local/lib/pkgconfig/protobuf-lite.pc -- Installing: /usr/local/include/google/protobuf/any.h -- Installing: /usr/local/include/google/protobuf/any.pb.h -- Installing: /usr/local/include/google/protobuf/api.pb.h -- Installing: /usr/local/include/google/protobuf/arena.h -- Installing: /usr/local/include/google/protobuf/arena_impl.h -- Installing: /usr/local/include/google/protobuf/arenastring.h -- Installing: /usr/local/include/google/protobuf/compiler/code_generator.h -- Installing: /usr/local/include/google/protobuf/compiler/command_line_interface.h -- Installing: /usr/local/include/google/protobuf/compiler/cpp/cpp_generator.h -- Installing: /usr/local/include/google/protobuf/compiler/csharp/csharp_generator.h -- Installing: /usr/local/include/google/protobuf/compiler/csharp/csharp_names.h -- Installing: /usr/local/include/google/protobuf/compiler/importer.h -- Installing: /usr/local/include/google/protobuf/compiler/java/java_generator.h -- Installing: /usr/local/include/google/protobuf/compiler/java/java_names.h -- Installing: /usr/local/include/google/protobuf/compiler/javanano/javanano_generator.h -- Installing: /usr/local/include/google/protobuf/compiler/js/js_generator.h -- Installing: /usr/local/include/google/protobuf/compiler/js/well_known_types_embed.h -- Installing: /usr/local/include/google/protobuf/compiler/objectivec/objectivec_generator.h -- Installing: /usr/local/include/google/protobuf/compiler/objectivec/objectivec_helpers.h -- Installing: /usr/local/include/google/protobuf/compiler/parser.h -- Installing: /usr/local/include/google/protobuf/compiler/php/php_generator.h -- Installing: /usr/local/include/google/protobuf/compiler/plugin.h -- Installing: /usr/local/include/google/protobuf/compiler/plugin.pb.h -- Installing: /usr/local/include/google/protobuf/compiler/python/python_generator.h -- Installing: /usr/local/include/google/protobuf/compiler/ruby/ruby_generator.h -- Installing: /usr/local/include/google/protobuf/descriptor.h -- Installing: /usr/local/include/google/protobuf/descriptor.pb.h -- Installing: /usr/local/include/google/protobuf/descriptor_database.h -- Installing: /usr/local/include/google/protobuf/duration.pb.h -- Installing: /usr/local/include/google/protobuf/dynamic_message.h -- Installing: /usr/local/include/google/protobuf/empty.pb.h -- Installing: /usr/local/include/google/protobuf/extension_set.h -- Installing: /usr/local/include/google/protobuf/field_mask.pb.h -- Installing: /usr/local/include/google/protobuf/generated_enum_reflection.h -- Installing: /usr/local/include/google/protobuf/generated_enum_util.h -- Installing: /usr/local/include/google/protobuf/generated_message_reflection.h -- Installing: /usr/local/include/google/protobuf/generated_message_table_driven.h -- Installing: /usr/local/include/google/protobuf/generated_message_util.h -- Installing: /usr/local/include/google/protobuf/has_bits.h -- Installing: /usr/local/include/google/protobuf/io/coded_stream.h -- Installing: /usr/local/include/google/protobuf/io/gzip_stream.h -- Installing: /usr/local/include/google/protobuf/io/printer.h -- Installing: /usr/local/include/google/protobuf/io/strtod.h -- Installing: /usr/local/include/google/protobuf/io/tokenizer.h -- Installing: /usr/local/include/google/protobuf/io/zero_copy_stream.h -- Installing: /usr/local/include/google/protobuf/io/zero_copy_stream_impl.h -- Installing: /usr/local/include/google/protobuf/io/zero_copy_stream_impl_lite.h -- Installing: /usr/local/include/google/protobuf/map.h -- Installing: /usr/local/include/google/protobuf/map_entry.h -- Installing: /usr/local/include/google/protobuf/map_entry_lite.h -- Installing: /usr/local/include/google/protobuf/map_field.h -- Installing: /usr/local/include/google/protobuf/map_field_inl.h -- Installing: /usr/local/include/google/protobuf/map_field_lite.h -- Installing: /usr/local/include/google/protobuf/map_type_handler.h -- Installing: /usr/local/include/google/protobuf/message.h -- Installing: /usr/local/include/google/protobuf/message_lite.h -- Installing: /usr/local/include/google/protobuf/metadata.h -- Installing: /usr/local/include/google/protobuf/metadata_lite.h -- Installing: /usr/local/include/google/protobuf/reflection.h -- Installing: /usr/local/include/google/protobuf/reflection_ops.h -- Installing: /usr/local/include/google/protobuf/repeated_field.h -- Installing: /usr/local/include/google/protobuf/service.h -- Installing: /usr/local/include/google/protobuf/source_context.pb.h -- Installing: /usr/local/include/google/protobuf/struct.pb.h -- Installing: /usr/local/include/google/protobuf/stubs/atomic_sequence_num.h -- Installing: /usr/local/include/google/protobuf/stubs/atomicops.h -- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_arm64_gcc.h -- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_arm_gcc.h -- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_arm_qnx.h -- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_atomicword_compat.h -- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_generic_c11_atomic.h -- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_generic_gcc.h -- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_mips_gcc.h -- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_power.h -- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_ppc_gcc.h -- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_solaris.h -- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_tsan.h -- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_x86_gcc.h -- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_x86_msvc.h -- Installing: /usr/local/include/google/protobuf/stubs/bytestream.h -- Installing: /usr/local/include/google/protobuf/stubs/callback.h -- Installing: /usr/local/include/google/protobuf/stubs/casts.h -- Installing: /usr/local/include/google/protobuf/stubs/common.h -- Installing: /usr/local/include/google/protobuf/stubs/fastmem.h -- Installing: /usr/local/include/google/protobuf/stubs/hash.h -- Installing: /usr/local/include/google/protobuf/stubs/logging.h -- Installing: /usr/local/include/google/protobuf/stubs/macros.h -- Installing: /usr/local/include/google/protobuf/stubs/mutex.h -- Installing: /usr/local/include/google/protobuf/stubs/once.h -- Installing: /usr/local/include/google/protobuf/stubs/platform_macros.h -- Installing: /usr/local/include/google/protobuf/stubs/port.h -- Installing: /usr/local/include/google/protobuf/stubs/scoped_ptr.h -- Installing: /usr/local/include/google/protobuf/stubs/shared_ptr.h -- Installing: /usr/local/include/google/protobuf/stubs/singleton.h -- Installing: /usr/local/include/google/protobuf/stubs/status.h -- Installing: /usr/local/include/google/protobuf/stubs/stl_util.h -- Installing: /usr/local/include/google/protobuf/stubs/stringpiece.h -- Installing: /usr/local/include/google/protobuf/stubs/template_util.h -- Installing: /usr/local/include/google/protobuf/stubs/type_traits.h -- Installing: /usr/local/include/google/protobuf/text_format.h -- Installing: /usr/local/include/google/protobuf/timestamp.pb.h -- Installing: /usr/local/include/google/protobuf/type.pb.h -- Installing: /usr/local/include/google/protobuf/unknown_field_set.h -- Installing: /usr/local/include/google/protobuf/util/delimited_message_util.h -- Installing: /usr/local/include/google/protobuf/util/field_comparator.h -- Installing: /usr/local/include/google/protobuf/util/field_mask_util.h -- Installing: /usr/local/include/google/protobuf/util/json_util.h -- Installing: /usr/local/include/google/protobuf/util/message_differencer.h -- Installing: /usr/local/include/google/protobuf/util/time_util.h -- Installing: /usr/local/include/google/protobuf/util/type_resolver.h -- Installing: /usr/local/include/google/protobuf/util/type_resolver_util.h -- Installing: /usr/local/include/google/protobuf/wire_format.h -- Installing: /usr/local/include/google/protobuf/wire_format_lite.h -- Installing: /usr/local/include/google/protobuf/wire_format_lite_inl.h -- Installing: /usr/local/include/google/protobuf/wrappers.pb.h -- Installing: /usr/local/include/google/protobuf/descriptor.proto -- Installing: /usr/local/include/google/protobuf/any.proto -- Installing: /usr/local/include/google/protobuf/api.proto -- Installing: /usr/local/include/google/protobuf/duration.proto -- Installing: /usr/local/include/google/protobuf/empty.proto -- Installing: /usr/local/include/google/protobuf/field_mask.proto -- Installing: /usr/local/include/google/protobuf/source_context.proto -- Installing: /usr/local/include/google/protobuf/struct.proto -- Installing: /usr/local/include/google/protobuf/timestamp.proto -- Installing: /usr/local/include/google/protobuf/type.proto -- Installing: /usr/local/include/google/protobuf/wrappers.proto -- Installing: /usr/local/include/google/protobuf/compiler/plugin.proto -- Installing: /usr/local/lib/cmake/protobuf/protobuf-targets.cmake -- Installing: /usr/local/lib/cmake/protobuf/protobuf-targets-release.cmake -- Up-to-date: /usr/local/lib/cmake/protobuf -- Installing: /usr/local/lib/cmake/protobuf/protobuf-config-version.cmake -- Installing: /usr/local/lib/cmake/protobuf/protobuf-options.cmake -- Installing: /usr/local/lib/cmake/protobuf/protobuf-config.cmake -- Installing: /usr/local/lib/cmake/protobuf/protobuf-module.cmake

5. 安装依赖库

　　libgoogle-glog-dev  libsuitesparse-dev  ninja-build（已经安装）

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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 \     ninja-build \     python-sphinx

 安装5过程如下：

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yhexie@ubuntu:~/catkin_ws$ 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 \ >     ninja-build \ >     python-sphinx Reading package lists... Done Building dependency tree       Reading state information... Done g++ is already the newest version (4:5.3.1-1ubuntu1). g++ set to manually installed. libcairo2-dev is already the newest version (1.14.6-1). libcairo2-dev set to manually installed. liblua5.2-dev is already the newest version (5.2.4-1ubuntu1). libsuitesparse-dev is already the newest version (1:4.4.6-1). libboost-all-dev is already the newest version (1.58.0.1ubuntu1). libboost-all-dev set to manually installed. libeigen3-dev is already the newest version (3.3~beta1-2). libeigen3-dev set to manually installed. libgflags-dev is already the newest version (2.1.2-3). libgflags-dev set to manually installed. libgoogle-glog-dev is already the newest version (0.3.4-0.1). ninja-build is already the newest version (1.5.1-0.1ubuntu1). cmake is already the newest version (3.5.1-1ubuntu3). cmake set to manually installed. git is already the newest version (1:2.7.4-0ubuntu1.3). git set to manually installed. Suggested packages:   python-jinja2-doc libjs-mathjax dvipng texlive-latex-recommended   texlive-latex-extra texlive-fonts-recommended The following NEW packages will be installed:   fonts-font-awesome google-mock libjs-modernizr python-alabaster python-babel   python-babel-localedata python-jinja2 python-markupsafe python-sphinx   python-sphinx-rtd-theme sphinx-common sphinx-doc sphinx-rtd-theme-common 0 upgraded, 13 newly installed, 0 to remove and 340 not upgraded. Need to get 4,885 kB of archives. After this operation, 23.1 MB of additional disk space will be used. Get:1 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 fonts-font-awesome all 4.5.0~dfsg-1 [506 kB] Get:2 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 google-mock amd64 1.7.0-18092013-1 [116 kB] Get:3 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 python-babel-localedata all 1.3+dfsg.1-6 [1,931 kB] Get:4 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 python-babel all 1.3+dfsg.1-6 [70.4 kB] Get:5 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 python-markupsafe amd64 0.23-2build2 [15.5 kB] Get:6 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 python-jinja2 all 2.8-1 [109 kB] Get:7 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 python-alabaster all 0.7.7-1 [16.8 kB] Get:8 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libjs-modernizr all 2.6.2+ds1-1ubuntu1 [46.7 kB] Get:9 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 sphinx-rtd-theme-common all 0.1.9-1 [210 kB] Get:10 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 python-sphinx-rtd-theme all 0.1.9-1 [13.6 kB] Get:11 http://us.archive.ubuntu.com/ubuntu xenial-updates/main amd64 sphinx-common all 1.3.6-2ubuntu1.1 [324 kB] Get:12 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 python-sphinx all 1.3.6-2ubuntu1.1 [401 kB] Get:13 http://us.archive.ubuntu.com/ubuntu xenial-updates/main amd64 sphinx-doc all 1.3.6-2ubuntu1.1 [1,126 kB] Fetched 4,885 kB in 38s (129 kB/s)                                             Selecting previously unselected package fonts-font-awesome. 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6. 编译过程如下：

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yhexie@ubuntu:~/catkin_ws$ catkin_make_isolated --install --use-ninja     Base path: /home/yhexie/catkin_ws Source space: /home/yhexie/catkin_ws/src Build space: /home/yhexie/catkin_ws/build_isolated Devel space: /home/yhexie/catkin_ws/devel_isolated Install space: /home/yhexie/catkin_ws/install_isolated ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~  traversing 6 packages in topological order: ~~  - cartographer_ros_msgs ~~  - ceres-solver (plain cmake) ~~  - cartographer (plain cmake) ~~  - cartographer_ros ~~  - cartographer_rviz ~~  - rplidar_ros ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~   ==> Processing catkin package: 'cartographer_ros_msgs' build.ninja exists, skipping explicit cmake invocation... ==> ninja build.ninja in '/home/yhexie/catkin_ws/build_isolated/cartographer_ros_msgs' ninja: no work to do. ==> ninja -j1 -l1 in '/home/yhexie/catkin_ws/build_isolated/cartographer_ros_msgs' [9/9] cd /home/yhexie/catkin_ws/build_...artographer_ros_msgs/TrajectoryOptions ==> ninja install in '/home/yhexie/catkin_ws/build_isolated/cartographer_ros_msgs' [10/10] Install the project... -- Install configuration: "" -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/_setup_util.py -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/env.sh -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/setup.bash -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/setup.sh -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/setup.zsh -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/.rosinstall -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros_msgs/msg/SubmapList.msg -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros_msgs/msg/SubmapEntry.msg -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros_msgs/msg/SubmapTexture.msg -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros_msgs/msg/SensorTopics.msg -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros_msgs/msg/TrajectoryOptions.msg -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros_msgs/srv/SubmapQuery.srv -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros_msgs/srv/FinishTrajectory.srv -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros_msgs/srv/StartTrajectory.srv -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros_msgs/srv/WriteState.srv -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros_msgs/cmake/cartographer_ros_msgs-msg-paths.cmake -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs/TrajectoryOptions.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs/SensorTopics.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs/SubmapQueryResponse.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs/SubmapList.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs/WriteState.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs/WriteStateRequest.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs/FinishTrajectory.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs/FinishTrajectoryResponse.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs/SubmapTexture.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs/SubmapEntry.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs/StartTrajectoryResponse.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs/StartTrajectoryRequest.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs/WriteStateResponse.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs/StartTrajectory.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs/SubmapQuery.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs/FinishTrajectoryRequest.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros_msgs/SubmapQueryRequest.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/roseus/ros/cartographer_ros_msgs -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/roseus/ros/cartographer_ros_msgs/manifest.l -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/roseus/ros/cartographer_ros_msgs/msg -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/roseus/ros/cartographer_ros_msgs/msg/SensorTopics.l -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/roseus/ros/cartographer_ros_msgs/msg/SubmapEntry.l -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/roseus/ros/cartographer_ros_msgs/msg/TrajectoryOptions.l -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/roseus/ros/cartographer_ros_msgs/msg/SubmapList.l -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/roseus/ros/cartographer_ros_msgs/msg/SubmapTexture.l -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/roseus/ros/cartographer_ros_msgs/srv -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/roseus/ros/cartographer_ros_msgs/srv/SubmapQuery.l -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/roseus/ros/cartographer_ros_msgs/srv/FinishTrajectory.l -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/roseus/ros/cartographer_ros_msgs/srv/WriteState.l -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/roseus/ros/cartographer_ros_msgs/srv/StartTrajectory.l -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/msg -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/msg/_package.lisp -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/msg/_package_SensorTopics.lisp -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/msg/_package_SubmapList.lisp -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/msg/SubmapEntry.lisp -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/msg/SensorTopics.lisp -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/msg/_package_TrajectoryOptions.lisp -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/msg/_package_SubmapTexture.lisp -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/msg/cartographer_ros_msgs-msg.asd -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/msg/TrajectoryOptions.lisp -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/msg/SubmapTexture.lisp -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/msg/_package_SubmapEntry.lisp -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/msg/SubmapList.lisp -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/srv -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/srv/_package.lisp -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/srv/_package_StartTrajectory.lisp -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/srv/_package_SubmapQuery.lisp -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/srv/cartographer_ros_msgs-srv.asd -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/srv/_package_WriteState.lisp -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/srv/SubmapQuery.lisp -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/srv/FinishTrajectory.lisp -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/srv/StartTrajectory.lisp -- 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/home/yhexie/catkin_ws/install_isolated/share/gennodejs/ros/cartographer_ros_msgs/srv/StartTrajectory.js Listing /home/yhexie/catkin_ws/devel_isolated/cartographer_ros_msgs/lib/python2.7/dist-packages/cartographer_ros_msgs ... 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Listing /home/yhexie/catkin_ws/devel_isolated/cartographer_ros_msgs/lib/python2.7/dist-packages/cartographer_ros_msgs/srv ... -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/msg -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/msg/_SubmapList.pyc -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/msg/_SensorTopics.py -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/msg/_SubmapTexture.pyc -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/msg/_SensorTopics.pyc -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/msg/_SubmapEntry.pyc -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/msg/_TrajectoryOptions.py -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/msg/__init__.py -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/msg/_TrajectoryOptions.pyc -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/msg/_SubmapList.py -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/msg/_SubmapTexture.py -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/msg/__init__.pyc -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/msg/_SubmapEntry.py -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/srv -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/srv/_FinishTrajectory.pyc -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/srv/_WriteState.py -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/srv/_SubmapQuery.py -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/srv/_WriteState.pyc -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/srv/_SubmapQuery.pyc -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/srv/__init__.py -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/srv/_StartTrajectory.pyc -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/srv/__init__.pyc -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/srv/_StartTrajectory.py -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/srv/_FinishTrajectory.py -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/__init__.py -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/python2.7/dist-packages/cartographer_ros_msgs/__init__.pyc -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/pkgconfig/cartographer_ros_msgs.pc -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros_msgs/cmake/cartographer_ros_msgs-msg-extras.cmake -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros_msgs/cmake/cartographer_ros_msgsConfig.cmake -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros_msgs/cmake/cartographer_ros_msgsConfig-version.cmake -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros_msgs/package.xml <== Finished processing package [1 of 6]: 'cartographer_ros_msgs'   ==> Processing plain cmake package: 'ceres-solver' ==> Building with env: '/home/yhexie/catkin_ws/install_isolated/env.sh' build.ninja exists, skipping explicit cmake invocation... ==> ninja build.ninja in '/home/yhexie/catkin_ws/build_isolated/ceres-solver/install' ninja: no work to do. ==> ninja -j1 -l1 in '/home/yhexie/catkin_ws/build_isolated/ceres-solver/install' ninja: no work to do. ==> ninja install in '/home/yhexie/catkin_ws/build_isolated/ceres-solver/install' [1/1] Install the project... -- Install configuration: "Release" -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/local_parameterization.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/ordered_groups.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/gradient_checker.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/covariance.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/sized_cost_function.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/cubic_interpolation.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/types.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/cost_function.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/problem.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/loss_function.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/numeric_diff_options.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/dynamic_cost_function.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/normal_prior.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/iteration_callback.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/autodiff_local_parameterization.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/tiny_solver_autodiff_function.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/rotation.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/fpclassify.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/gradient_problem.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/autodiff_cost_function.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/tiny_solver_cost_function_adapter.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/version.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/dynamic_cost_function_to_functor.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/conditioned_cost_function.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/cost_function_to_functor.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/jet.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/dynamic_autodiff_cost_function.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/crs_matrix.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/solver.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/dynamic_numeric_diff_cost_function.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/gradient_problem_solver.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/ceres.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/numeric_diff_cost_function.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/tiny_solver.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/c_api.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/internal/fixed_array.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/internal/macros.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/internal/port.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/internal/autodiff.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/internal/manual_constructor.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/internal/disable_warnings.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/internal/scoped_ptr.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/internal/eigen.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/internal/reenable_warnings.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/internal/numeric_diff.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/internal/variadic_evaluate.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/include/ceres/internal/config.h -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/cmake/Ceres/CeresTargets.cmake -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/cmake/Ceres/CeresTargets-release.cmake -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/cmake/Ceres/CeresConfig.cmake -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/cmake/Ceres/CeresConfigVersion.cmake -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/cmake/Ceres/FindEigen.cmake -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/cmake/Ceres/FindGlog.cmake -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/cmake/Ceres/FindGflags.cmake -- Up-to-date: /home/yhexie/catkin_ws/install_isolated/lib/libceres.a <== Finished processing package [2 of 6]: 'ceres-solver'   ==> Processing plain cmake package: 'cartographer' ==> Building with env: '/home/yhexie/catkin_ws/install_isolated/env.sh' ==> cmake /home/yhexie/catkin_ws/src/cartographer -DCMAKE_INSTALL_PREFIX=/home/yhexie/catkin_ws/install_isolated -G Ninja in '/home/yhexie/catkin_ws/build_isolated/cartographer/install' -- Build type: Release -- Found PythonInterp: /usr/bin/python (found version "2.7.12") -- Found GMock: gmock_main;-lpthread  -- Boost version: 1.58.0 -- Found the following Boost libraries: --   iostreams --   regex -- Found installed version of Eigen: /usr/lib/cmake/eigen3 -- Found required Ceres dependency: Eigen version 3.2.92 in /usr/include/eigen3 -- Found required Ceres dependency: glog -- Found Ceres version: 1.13.0 installed in: /home/yhexie/catkin_ws/install_isolated with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SchurSpecializations, OpenMP, Multithreading] -- Found Sphinx: /usr/bin/sphinx-build  -- Configuring done -- Generating done -- Build files have been written to: /home/yhexie/catkin_ws/build_isolated/cartographer/install ==> ninja -j1 -l1 in '/home/yhexie/catkin_ws/build_isolated/cartographer/install' [273/273] Building documentation. Running Sphinx v1.3.6 making output directory... loading pickled environment... not yet created building [mo]: targets for 0 po files that are out of date building [html]: targets for 3 source files that are out of date updating environment: 3 added, 0 changed, 0 removed reading sources... [ 33%] configuration reading sources... [ 66%] index reading sources... [100%] terminology   looking for now-outdated files... none found pickling environment... done checking consistency... done preparing documents... done writing output... [ 33%] configuration writing output... [ 66%] index writing output... [100%] terminology   generating indices... genindex writing additional pages... search copying images... [100%] high_level_system_overview.png   copying static files... WARNING: html_static_path entry u'/home/yhexie/catkin_ws/src/cartographer/docs/source/_static' does not exist done copying extra files... done dumping search index in English (code: en) ... done dumping object inventory... done build succeeded, 1 warning. ==> ninja install in '/home/yhexie/catkin_ws/build_isolated/cartographer/install' [2/3] Building documentation. Running Sphinx v1.3.6 loading pickled environment... done building [mo]: targets for 0 po files that are out of date building [html]: targets for 0 source files that are out of date updating environment: 0 added, 0 changed, 0 removed looking for now-outdated files... none found no targets are out of date. build succeeded. [3/3] Install the project... -- Install configuration: "Release" -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer/package.xml -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer//configuration_files -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer//configuration_files/trajectory_builder_2d.lua -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer//configuration_files/trajectory_builder.lua -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer//configuration_files/trajectory_builder_3d.lua -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer//configuration_files/map_builder.lua -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer//configuration_files/map_builder_server.lua -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer//configuration_files/pose_graph.lua -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer//cmake -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer//cmake/functions.cmake -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer//cmake/modules -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer//cmake/modules/FindLuaGoogle.cmake -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer//cmake/modules/FindGMock.cmake -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer//cmake/modules/FindSphinx.cmake -- Installing: /home/yhexie/catkin_ws/install_isolated/bin/cartographer_autogenerate_ground_truth -- Installing: /home/yhexie/catkin_ws/install_isolated/bin/cartographer_compute_relations_metrics -- Installing: /home/yhexie/catkin_ws/install_isolated/lib/libcartographer.a -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/common/make_unique.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/common/lua_parameter_dictionary.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/common/lua_parameter_dictionary_test_helpers.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/common/histogram.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/common/port.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/common/configuration_file_resolver.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/common/lua.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/common/ceres_solver_options.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/common/math.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/common/fixed_ratio_sampler.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/common/time.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/common/mutex.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/common/blocking_queue.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/common/thread_pool.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/common/rate_timer.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/transform/transform_interpolation_buffer.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/transform/rigid_transform_test_helpers.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/transform/transform.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/transform/rigid_transform.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/transform/timestamped_transform.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/range_data_inserter.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/probability_grid.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/pose_graph.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/pose_graph/optimization_problem.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/pose_graph/spa_cost_function.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/pose_graph/constraint_builder.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/xy_index.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/scan_matching/rotation_delta_cost_functor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/scan_matching/translation_delta_cost_functor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/scan_matching/correlative_scan_matcher.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/scan_matching/fast_global_localizer.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/scan_matching/ceres_scan_matcher.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/ray_casting.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/map_limits.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/local_trajectory_builder_options.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/submaps.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/sensor/test_helpers.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/sensor/point_cloud.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/sensor/imu_data.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/sensor/voxel_filter.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/sensor/data.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/sensor/compressed_point_cloud.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/sensor/map_by_time.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/sensor/landmark_data.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/sensor/range_data.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/sensor/collator.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/sensor/odometry_data.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/sensor/ordered_multi_queue.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/sensor/timed_point_cloud_data.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/sensor/fixed_frame_pose_data.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/range_data_inserter.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/ceres_pose.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/pose_graph.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/pose_graph/optimization_problem.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/pose_graph/spa_cost_function.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/pose_graph/constraint_builder.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/rotation_parameterization.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/imu_integration.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/scan_matching/rotational_scan_matcher.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/scan_matching/interpolated_grid.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/scan_matching/precomputation_grid.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/scan_matching/low_resolution_matcher.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/scan_matching/rotation_delta_cost_functor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/scan_matching/translation_delta_cost_functor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/scan_matching/ceres_scan_matcher.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/hybrid_grid.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/local_trajectory_builder_options.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/submaps.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/imu_tracker.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/map_builder_interface.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/pose_extrapolator.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/detect_floors.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/pose_graph.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/pose_graph_interface.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/trajectory_connectivity_state.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/trajectory_builder_interface.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/pose_graph/optimization_problem_options.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/pose_graph/constraint_builder.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/id.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/probability_values.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/trajectory_node.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/collated_trajectory_builder.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/submaps.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/map_builder.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/connected_components.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/pose_graph_trimmer.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/intensity_to_color_points_processor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/pcd_writing_points_processor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/fixed_ratio_sampling_points_processor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/outlier_removing_points_processor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/null_points_processor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/color.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/min_max_range_filtering_points_processor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/probability_grid_points_processor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/proto_stream.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/points_processor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/frame_id_filtering_points_processor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/ply_writing_points_processor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/xyz_writing_points_processor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/image.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/submap_painter.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/file_writer.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/coloring_points_processor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/points_batch.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/hybrid_grid_points_processor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/draw_trajectories.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/points_processor_pipeline_builder.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/counting_points_processor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/io/xray_points_processor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/ground_truth/relations_text_file.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/common/proto/ceres_solver_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/transform/proto/transform.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/scan_matching/proto/fast_correlative_scan_matcher_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/scan_matching/proto/real_time_correlative_scan_matcher_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/proto/submaps_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/proto/map_limits.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/proto/local_trajectory_builder_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/proto/range_data_inserter_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/proto/probability_grid.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_2d/proto/cell_limits.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/sensor/proto/adaptive_voxel_filter_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/sensor/proto/sensor.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/scan_matching/proto/fast_correlative_scan_matcher_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/proto/submaps_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/proto/local_trajectory_builder_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/proto/range_data_inserter_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping_3d/proto/hybrid_grid.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/pose_graph/proto/constraint_builder_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/pose_graph/proto/optimization_problem_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/proto/trajectory_builder_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/proto/submap.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/proto/pose_graph.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/proto/trajectory.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/proto/connected_components.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/proto/pose_graph_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/proto/serialization.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/proto/trajectory_node_data.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/proto/submap_visualization.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/proto/motion_filter_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/mapping/proto/map_builder_options.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer/ground_truth/proto/relations.pb.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer/cmake/CartographerTargets.cmake -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer/cmake/CartographerTargets-release.cmake -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer/cartographer-config.cmake <== Finished processing package [3 of 6]: 'cartographer'   ==> Processing catkin package: 'cartographer_ros' ==> Creating build directory: 'build_isolated/cartographer_ros' ==> Building with env: '/home/yhexie/catkin_ws/install_isolated/env.sh' ==> cmake /home/yhexie/catkin_ws/src/cartographer_ros/cartographer_ros -DCATKIN_DEVEL_PREFIX=/home/yhexie/catkin_ws/devel_isolated/cartographer_ros -DCMAKE_INSTALL_PREFIX=/home/yhexie/catkin_ws/install_isolated -G Ninja in '/home/yhexie/catkin_ws/build_isolated/cartographer_ros' -- The C compiler identification is GNU 5.4.0 -- The CXX compiler identification is GNU 5.4.0 -- Check for working C compiler using: Ninja -- Check for working C compiler using: Ninja -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler using: Ninja -- Check for working CXX compiler using: Ninja -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Found installed version of Eigen: /usr/lib/cmake/eigen3 -- Found required Ceres dependency: Eigen version 3.2.92 in /usr/include/eigen3 -- Found required Ceres dependency: glog -- Found Ceres version: 1.13.0 installed in: /home/yhexie/catkin_ws/install_isolated with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SchurSpecializations, OpenMP, Multithreading] -- Build type: Release Files /home/yhexie/catkin_ws/build_isolated/cartographer_ros/AllFiles.cmake and - differ -- Found PythonInterp: /usr/bin/python (found version "2.7.12") -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE  -- Found GMock: gmock_main;-lpthread  -- Using CATKIN_DEVEL_PREFIX: /home/yhexie/catkin_ws/devel_isolated/cartographer_ros -- Using CMAKE_PREFIX_PATH: /home/yhexie/catkin_ws/install_isolated;/opt/ros/kinetic -- This workspace overlays: /home/yhexie/catkin_ws/install_isolated;/opt/ros/kinetic -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/yhexie/catkin_ws/build_isolated/cartographer_ros/test_results -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.8 -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") -- Found Lua: /usr/lib/x86_64-linux-gnu/liblua5.2.so;/usr/lib/x86_64-linux-gnu/libm.so (found version "5.2.4") -- Checking for module 'eigen3' --   Found eigen3, version 3.2.92 -- Found eigen: /usr/include/eigen3  -- Boost version: 1.58.0 -- Found the following Boost libraries: --   system --   filesystem --   thread --   date_time --   iostreams --   serialization --   chrono --   atomic --   regex -- looking for PCL_COMMON -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so  -- Found PCL: /usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_serialization.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;/usr/lib/x86_64-linux-gnu/libpthread.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_common.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_common.so;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_serialization.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;/usr/lib/x86_64-linux-gnu/libpthread.so  -- Boost version: 1.58.0 -- Found the following Boost libraries: --   system --   iostreams --   regex -- Configuring done -- Generating done -- Build files have been written to: /home/yhexie/catkin_ws/build_isolated/cartographer_ros ==> ninja -j1 -l1 in '/home/yhexie/catkin_ws/build_isolated/cartographer_ros' [43/43] Linking CXX executable /home/y...r_ros/cartographer_pbstream_to_ros_map ==> ninja install in '/home/yhexie/catkin_ws/build_isolated/cartographer_ros' [2/2] Install the project... -- Install configuration: "Release" -- Installing: /home/yhexie/catkin_ws/install_isolated/_setup_util.py -- Installing: /home/yhexie/catkin_ws/install_isolated/env.sh -- Installing: /home/yhexie/catkin_ws/install_isolated/setup.bash -- Installing: /home/yhexie/catkin_ws/install_isolated/setup.sh -- Installing: /home/yhexie/catkin_ws/install_isolated/setup.zsh -- Installing: /home/yhexie/catkin_ws/install_isolated/.rosinstall -- Installing: /home/yhexie/catkin_ws/install_isolated/lib/pkgconfig/cartographer_ros.pc -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/cmake/cartographer_rosConfig.cmake -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/cmake/cartographer_rosConfig-version.cmake -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/package.xml -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/launch/assets_writer_backpack_3d.launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/launch/backpack_3d.launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/launch/demo_backpack_2d_localization.launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/launch/demo_backpack_3d.launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/launch/demo_taurob_tracker.launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/launch/demo_revo_lds.launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/launch/demo_backpack_2d.launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/launch/assets_writer_backpack_2d.launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/launch/demo_pr2.launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/launch/offline_backpack_3d.launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/launch/taurob_tracker.launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/launch/offline_backpack_2d.launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/launch/backpack_2d.launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/launch/demo_backpack_3d_localization.launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/urdf -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/urdf/backpack_3d.urdf -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/urdf/backpack_2d.urdf -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/configuration_files -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/transform.lua -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/taurob_tracker.lua -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/backpack_2d_localization.lua -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/backpack_2d.lua -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/demo_3d.rviz -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/assets_writer_backpack_2d.lua -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/assets_writer_backpack_2d_ci.lua -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/backpack_3d.lua -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/demo_2d.rviz -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/assets_writer_backpack_3d.lua -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/pr2.lua -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/revo_lds.lua -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/backpack_3d_localization.lua -- Installing: /home/yhexie/catkin_ws/install_isolated/lib/cartographer_ros/tf_remove_frames.py -- Installing: /home/yhexie/catkin_ws/install_isolated/lib/libcartographer_ros.a -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros/tf_bridge.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros/sensor_bridge.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros/ros_map_writing_points_processor.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros/node_constants.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros/urdf_reader.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros/split_string.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros/time_conversion.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros/ros_log_sink.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros/msg_conversion.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros/node.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros/map_builder_bridge.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros/node_options.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros/submap.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros/ros_map.h -- Installing: /home/yhexie/catkin_ws/install_isolated/include/cartographer_ros/trajectory_options.h -- Installing: /home/yhexie/catkin_ws/install_isolated/bin/cartographer_assets_writer -- Set runtime path of "/home/yhexie/catkin_ws/install_isolated/bin/cartographer_assets_writer" to "" -- Installing: /home/yhexie/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_assets_writer -- Set runtime path of "/home/yhexie/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_assets_writer" to "" -- Installing: /home/yhexie/catkin_ws/install_isolated/bin/cartographer_node -- Set runtime path of "/home/yhexie/catkin_ws/install_isolated/bin/cartographer_node" to "" -- Installing: /home/yhexie/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_node -- Set runtime path of "/home/yhexie/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_node" to "" -- Installing: /home/yhexie/catkin_ws/install_isolated/bin/cartographer_offline_node -- Set runtime path of "/home/yhexie/catkin_ws/install_isolated/bin/cartographer_offline_node" to "" -- Installing: /home/yhexie/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_offline_node -- Set runtime path of "/home/yhexie/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_offline_node" to "" -- Installing: /home/yhexie/catkin_ws/install_isolated/bin/cartographer_start_trajectory -- Set runtime path of "/home/yhexie/catkin_ws/install_isolated/bin/cartographer_start_trajectory" to "" -- Installing: /home/yhexie/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_start_trajectory -- Set runtime path of "/home/yhexie/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_start_trajectory" to "" -- Installing: /home/yhexie/catkin_ws/install_isolated/bin/cartographer_occupancy_grid_node -- Set runtime path of "/home/yhexie/catkin_ws/install_isolated/bin/cartographer_occupancy_grid_node" to "" -- Installing: /home/yhexie/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_occupancy_grid_node -- Set runtime path of "/home/yhexie/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_occupancy_grid_node" to "" -- Installing: /home/yhexie/catkin_ws/install_isolated/bin/cartographer_rosbag_validate -- Set runtime path of "/home/yhexie/catkin_ws/install_isolated/bin/cartographer_rosbag_validate" to "" -- Installing: /home/yhexie/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_rosbag_validate -- Set runtime path of "/home/yhexie/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_rosbag_validate" to "" -- Installing: /home/yhexie/catkin_ws/install_isolated/bin/cartographer_pbstream_to_ros_map -- Set runtime path of "/home/yhexie/catkin_ws/install_isolated/bin/cartographer_pbstream_to_ros_map" to "" -- Installing: /home/yhexie/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_pbstream_to_ros_map -- Set runtime path of "/home/yhexie/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_pbstream_to_ros_map" to "" <== Finished processing package [4 of 6]: 'cartographer_ros'   ==> Processing catkin package: 'cartographer_rviz' ==> Creating build directory: 'build_isolated/cartographer_rviz' ==> Building with env: '/home/yhexie/catkin_ws/install_isolated/env.sh' ==> cmake /home/yhexie/catkin_ws/src/cartographer_ros/cartographer_rviz -DCATKIN_DEVEL_PREFIX=/home/yhexie/catkin_ws/devel_isolated/cartographer_rviz -DCMAKE_INSTALL_PREFIX=/home/yhexie/catkin_ws/install_isolated -G Ninja in '/home/yhexie/catkin_ws/build_isolated/cartographer_rviz' -- The C compiler identification is GNU 5.4.0 -- The CXX compiler identification is GNU 5.4.0 -- Check for working C compiler using: Ninja -- Check for working C compiler using: Ninja -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler using: Ninja -- Check for working CXX compiler using: Ninja -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Found installed version of Eigen: /usr/lib/cmake/eigen3 -- Found required Ceres dependency: Eigen version 3.2.92 in /usr/include/eigen3 -- Found required Ceres dependency: glog -- Found Ceres version: 1.13.0 installed in: /home/yhexie/catkin_ws/install_isolated with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SchurSpecializations, OpenMP, Multithreading] -- Build type: Release Files /home/yhexie/catkin_ws/build_isolated/cartographer_rviz/AllFiles.cmake and - differ -- Boost version: 1.58.0 -- Found the following Boost libraries: --   system --   iostreams --   regex -- Using CATKIN_DEVEL_PREFIX: /home/yhexie/catkin_ws/devel_isolated/cartographer_rviz -- Using CMAKE_PREFIX_PATH: /home/yhexie/catkin_ws/install_isolated;/opt/ros/kinetic -- This workspace overlays: /home/yhexie/catkin_ws/install_isolated;/opt/ros/kinetic -- Found PythonInterp: /usr/bin/python (found version "2.7.12") -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/yhexie/catkin_ws/build_isolated/cartographer_rviz/test_results -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE  -- Found gtest sources under '/usr/src/gtest': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.8 -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Using Qt5 based on the rviz_QT_VERSION: 5.5.1 -- Configuring done -- Generating done -- Build files have been written to: /home/yhexie/catkin_ws/build_isolated/cartographer_rviz ==> ninja -j1 -l1 in '/home/yhexie/catkin_ws/build_isolated/cartographer_rviz' [1/8] Automatic moc for target cartographer_rviz Generating moc_drawable_submap.cpp Generating moc_submaps_display.cpp [8/8] Linking CXX shared library /home...apher_rviz/lib/libcartographer_rviz.so ==> ninja install in '/home/yhexie/catkin_ws/build_isolated/cartographer_rviz' [3/3] Install the project... -- Install configuration: "Release" -- Installing: /home/yhexie/catkin_ws/install_isolated/_setup_util.py -- Installing: /home/yhexie/catkin_ws/install_isolated/env.sh -- Installing: /home/yhexie/catkin_ws/install_isolated/setup.bash -- Installing: /home/yhexie/catkin_ws/install_isolated/setup.sh -- Installing: /home/yhexie/catkin_ws/install_isolated/setup.zsh -- Installing: /home/yhexie/catkin_ws/install_isolated/.rosinstall -- Installing: /home/yhexie/catkin_ws/install_isolated/lib/pkgconfig/cartographer_rviz.pc -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_rviz/cmake/cartographer_rvizConfig.cmake -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_rviz/cmake/cartographer_rvizConfig-version.cmake -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_rviz/package.xml -- Installing: /home/yhexie/catkin_ws/install_isolated/lib/libcartographer_rviz.so -- Set runtime path of "/home/yhexie/catkin_ws/install_isolated/lib/libcartographer_rviz.so" to "" -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_rviz/rviz_plugin_description.xml -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_rviz/ogre_media -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_rviz/ogre_media/materials -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_rviz/ogre_media/materials/glsl120 -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_rviz/ogre_media/materials/glsl120/glsl120.program -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_rviz/ogre_media/materials/glsl120/submap.vert -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_rviz/ogre_media/materials/glsl120/submap.frag -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_rviz/ogre_media/materials/scripts -- Installing: /home/yhexie/catkin_ws/install_isolated/share/cartographer_rviz/ogre_media/materials/scripts/submap.material <== Finished processing package [5 of 6]: 'cartographer_rviz'   ==> Processing catkin package: 'rplidar_ros' ==> Creating build directory: 'build_isolated/rplidar_ros' ==> Building with env: '/home/yhexie/catkin_ws/install_isolated/env.sh' ==> cmake /home/yhexie/catkin_ws/src/rplidar_ros -DCATKIN_DEVEL_PREFIX=/home/yhexie/catkin_ws/devel_isolated/rplidar_ros -DCMAKE_INSTALL_PREFIX=/home/yhexie/catkin_ws/install_isolated -G Ninja in '/home/yhexie/catkin_ws/build_isolated/rplidar_ros' -- The C compiler identification is GNU 5.4.0 -- The CXX compiler identification is GNU 5.4.0 -- Check for working C compiler using: Ninja -- Check for working C compiler using: Ninja -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler using: Ninja -- Check for working CXX compiler using: Ninja -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Using CATKIN_DEVEL_PREFIX: /home/yhexie/catkin_ws/devel_isolated/rplidar_ros -- Using CMAKE_PREFIX_PATH: /home/yhexie/catkin_ws/install_isolated;/opt/ros/kinetic -- This workspace overlays: /home/yhexie/catkin_ws/install_isolated;/opt/ros/kinetic -- Found PythonInterp: /usr/bin/python (found version "2.7.12") -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/yhexie/catkin_ws/build_isolated/rplidar_ros/test_results -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE  -- Found gtest sources under '/usr/src/gtest': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.8 -- Configuring done -- Generating done -- Build files have been written to: /home/yhexie/catkin_ws/build_isolated/rplidar_ros ==> ninja -j1 -l1 in '/home/yhexie/catkin_ws/build_isolated/rplidar_ros' [8/8] Linking CXX executable /home/yhe..._ros/lib/rplidar_ros/rplidarNodeClient ==> ninja install in '/home/yhexie/catkin_ws/build_isolated/rplidar_ros' [1/1] Install the project... -- Install configuration: "" -- Installing: /home/yhexie/catkin_ws/install_isolated/_setup_util.py -- Installing: /home/yhexie/catkin_ws/install_isolated/env.sh -- Installing: /home/yhexie/catkin_ws/install_isolated/setup.bash -- Installing: /home/yhexie/catkin_ws/install_isolated/setup.sh -- Installing: /home/yhexie/catkin_ws/install_isolated/setup.zsh -- Installing: /home/yhexie/catkin_ws/install_isolated/.rosinstall -- Installing: /home/yhexie/catkin_ws/install_isolated/lib/pkgconfig/rplidar_ros.pc -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/cmake/rplidar_rosConfig.cmake -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/cmake/rplidar_rosConfig-version.cmake -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/package.xml -- Installing: /home/yhexie/catkin_ws/install_isolated/lib/rplidar_ros/rplidarNode -- Set runtime path of "/home/yhexie/catkin_ws/install_isolated/lib/rplidar_ros/rplidarNode" to "" -- Installing: /home/yhexie/catkin_ws/install_isolated/lib/rplidar_ros/rplidarNodeClient -- Set runtime path of "/home/yhexie/catkin_ws/install_isolated/lib/rplidar_ros/rplidarNodeClient" to "" -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/launch/rplidar.launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/launch/view_rplidar.launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/launch/test_rplidar.launch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/rviz -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/rviz/rplidar.rviz -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/win32 -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/win32/net_serial.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/win32/timer.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/win32/net_serial.cpp -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/win32/winthread.hpp -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/win32/timer.cpp -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/win32/arch_win32.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/linux -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/linux/net_serial.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/linux/timer.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/linux/thread.hpp -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/linux/arch_linux.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/linux/net_serial.cpp -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/linux/timer.cpp -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/macOS -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/macOS/net_serial.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/macOS/timer.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/macOS/thread.hpp -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/macOS/net_serial.cpp -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/macOS/arch_macOS.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/arch/macOS/timer.cpp -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/hal -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/hal/locker.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/hal/event.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/hal/thread.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/hal/util.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/hal/thread.cpp -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/hal/abs_rxtx.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/rplidar_driver.cpp -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/rplidar_driver_serial.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/src/sdkcommon.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/include -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/include/rptypes.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/include/rplidar.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/include/rplidar_driver.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/include/rplidar_cmd.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/include/rplidar_protocol.h -- Installing: /home/yhexie/catkin_ws/install_isolated/share/rplidar_ros/sdk/README.txt <== Finished processing package [6 of 6]: 'rplidar_ros'

 

6. 添加环境变量

　　vi .bashrc

　　在最后添加一行 source ~/catkin_ws/install_isolated/setup.bash

7. 测试官方Demo

　　wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

　　roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

　　3D SLAM测试

　　 roslaunch cartographer_ros offline_backpack_3d.launch bag_filenames:='/media/carto/Data/Datasets/b3-2016-03-01-13-39-41.bag'

8. 效果图：

 上一张2018年7月15日下载代码重新跑的效果图片，物理机器联想Y7000，效果相当好了：