**此文档需提前安装ROS--Noetic，如若未安装，可运行以下命令进行一键安装（感谢鱼香大佬）**

```
wget http://fishros.com/install -O fishros && . fishros
```

## 一、环境配置

### 1.修改/etc/hosts

```
sudo gedit /etc/hosts
```

具体ip地址自行通过ip查询网站搜索，并将ip与以下两个域名对应，添加到hosts文件中

```
ip raw.githubusercontent.com
ip www.github.com
```

### 2.修改sphinx版本

```
pip3 install sphinx==6.1.3
```

------

## 二、编译构建

参考[官方文档]([Compiling Cartographer ROS — Cartographer ROS documentation (google-cartographer-ros.readthedocs.io)](https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html))

### 1.安装必要的构建工具

```
sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
```

### 2.设置工作区

```
mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
```

### 3.安装所需要的包

```
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
```

### 4.安装abseil-cpp库

```
bash src/cartographer/scripts/install_abseil.sh
```

### 5.编译构建

```
catkin_make_isolated --install --use-ninja
```