工作空间名为catkin_cart
1.安装步骤：
https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html
2.按照他的步骤来，会在最后编译的时候出错
3.解决思路。
删除掉之前安装的cere和protobuf。
4.安装官方提供的cere和protobuf
5.分开编译
安装cartographer
cd cartographer mkdir build cd build cmake .. -G Ninja DProtobuf_DIR="/usr/local/lib/cmake/protobuf/" -DPROTOBUF_INCLUDE_DIR="/usr/local/include/google/protobuf/" -DPROTOBUF_LIBRARY="/usr/local/lib/libprotobuf.a" ninja CTEST_OUTPUT_ON_FAILURE=1 ninja test sudo ninja install
安装carographerROS
sudo apt-get install -y python-wstool python-rosdep ninja-build cd ~/catkin_cart/src/cartographer_ros catkin_make_isolated --install --use-ninja -Dcartographer_DIR="/usr/local/share/cartographer/" vim ~/.bashrc
source ~/catkin_cart/devel_isolated/setup.bash
source ~/.bashrc
6.
最后再运行
catkin_make_isolated --install --use-ninja就没问题啦
来源：博客园
作者：penuel
链接：https://www.cnblogs.com/penuel/p/11434181.html