步驟一，安裝所有的依賴項：
sudo apt-get install -y google-mock libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx ros-kinetic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev
二：下載abseil
網址：https://github.com/abseil/abseil-cpp.
安裝abseil的靜態庫：
mkdir build && cd build
cmake ..
make
sudo make install
安裝abseil的動態庫：可以將之前的build文件刪掉，重新建立
mkdir build && cd build
cmake .. -DBUILD_SHARED_LIBS=ON
make
sudo make install
步驟三，安裝ceres-solver-master：
git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
mkdir build
cd build
cmake ..
make -j4
sudo make install
步驟四，cartographer（安裝在根目錄下）：
git clone https://github.com/googlecartographer/cartographer.git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install
更改cartographer的CMakeList.txt文件（有2處）和cartographer-config.cmake.in文件（有1處）
CMakeList.txt 第1處：
find_package(Abseil REQUIRED) --> find_package(absl REQUIRED)
CMakeList.txt 第2處：#默認的庫文件是 standalone_absl
target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY}
absl::base
absl::synchronization
absl::strings
absl::flat_hash_map
absl::numeric
absl::flags)
然後重新編譯即可
cartographer-config.cmake.in 1處：
find_package(Abseil ${QUIET_OR_REQUIRED_OPTION}) Abseil 改爲 absl
步驟五，安裝cartographer_ros：
#初始化工作空間，我之前有一個工作空間爲catkin_ws，我的命名爲google_ws
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
#安裝cartographer_ros
cd ~/catkin_ws/src
git clone https://github.com/hitcm/cartographer_ros.git
cd ~/catkin_ws
catkin_make
更改cartographer_ros的CMakeList.txt，有2處cartographer_ros 和 cartographer_rviz的改法均一致
find_package(Abseil REQUIRED) --> find_package(absl REQUIRED)
然後重新編譯即可。
本實驗經過驗證，可行通過
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