Cartographer安装

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

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

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）

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：

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.
(Reading database ... 232187 files and directories currently installed.)
Preparing to unpack .../fonts-font-awesome_4.5.0~dfsg-1_all.deb ...
Unpacking fonts-font-awesome (4.5.0~dfsg-1) ...
Selecting previously unselected package google-mock:amd64.
Preparing to unpack .../google-mock_1.7.0-18092013-1_amd64.deb ...
Unpacking google-mock:amd64 (1.7.0-18092013-1) ...
Selecting previously unselected package python-babel-localedata.
Preparing to unpack .../python-babel-localedata_1.3+dfsg.1-6_all.deb ...
Unpacking python-babel-localedata (1.3+dfsg.1-6) ...
Selecting previously unselected package python-babel.
Preparing to unpack .../python-babel_1.3+dfsg.1-6_all.deb ...
Unpacking python-babel (1.3+dfsg.1-6) ...
Selecting previously unselected package python-markupsafe.
Preparing to unpack .../python-markupsafe_0.23-2build2_amd64.deb ...
Unpacking python-markupsafe (0.23-2build2) ...
Selecting previously unselected package python-jinja2.
Preparing to unpack .../python-jinja2_2.8-1_all.deb ...
Unpacking python-jinja2 (2.8-1) ...
Selecting previously unselected package python-alabaster.
Preparing to unpack .../python-alabaster_0.7.7-1_all.deb ...
Unpacking python-alabaster (0.7.7-1) ...
Selecting previously unselected package libjs-modernizr.
Preparing to unpack .../libjs-modernizr_2.6.2+ds1-1ubuntu1_all.deb ...
Unpacking libjs-modernizr (2.6.2+ds1-1ubuntu1) ...
Selecting previously unselected package sphinx-rtd-theme-common.
Preparing to unpack .../sphinx-rtd-theme-common_0.1.9-1_all.deb ...
Unpacking sphinx-rtd-theme-common (0.1.9-1) ...
Selecting previously unselected package python-sphinx-rtd-theme.
Preparing to unpack .../python-sphinx-rtd-theme_0.1.9-1_all.deb ...
Unpacking python-sphinx-rtd-theme (0.1.9-1) ...
Selecting previously unselected package sphinx-common.
Preparing to unpack .../sphinx-common_1.3.6-2ubuntu1.1_all.deb ...
Unpacking sphinx-common (1.3.6-2ubuntu1.1) ...
Selecting previously unselected package python-sphinx.
Preparing to unpack .../python-sphinx_1.3.6-2ubuntu1.1_all.deb ...
Unpacking python-sphinx (1.3.6-2ubuntu1.1) ...
Selecting previously unselected package sphinx-doc.
Preparing to unpack .../sphinx-doc_1.3.6-2ubuntu1.1_all.deb ...
Unpacking sphinx-doc (1.3.6-2ubuntu1.1) ...
Processing triggers for fontconfig (2.11.94-0ubuntu1.1) ...
Processing triggers for man-db (2.7.5-1) ...
Setting up fonts-font-awesome (4.5.0~dfsg-1) ...
Setting up google-mock:amd64 (1.7.0-18092013-1) ...
Setting up python-babel-localedata (1.3+dfsg.1-6) ...
Setting up python-babel (1.3+dfsg.1-6) ...
update-alternatives: using /usr/bin/pybabel-python2 to provide /usr/bin/pybabel (pybabel) in auto mode
Setting up python-markupsafe (0.23-2build2) ...
Setting up python-jinja2 (2.8-1) ...
Setting up python-alabaster (0.7.7-1) ...
Setting up libjs-modernizr (2.6.2+ds1-1ubuntu1) ...
Setting up sphinx-rtd-theme-common (0.1.9-1) ...
Setting up python-sphinx-rtd-theme (0.1.9-1) ...
Setting up sphinx-common (1.3.6-2ubuntu1.1) ...
Setting up python-sphinx (1.3.6-2ubuntu1.1) ...
Setting up sphinx-doc (1.3.6-2ubuntu1.1) ...

6. 编译过程如下：

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
-- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/srv/WriteState.lisp
-- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/common-lisp/ros/cartographer_ros_msgs/srv/_package_FinishTrajectory.lisp
-- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/gennodejs/ros/cartographer_ros_msgs
-- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/gennodejs/ros/cartographer_ros_msgs/_index.js
-- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/gennodejs/ros/cartographer_ros_msgs/msg
-- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/gennodejs/ros/cartographer_ros_msgs/msg/TrajectoryOptions.js
-- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/gennodejs/ros/cartographer_ros_msgs/msg/SensorTopics.js
-- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/gennodejs/ros/cartographer_ros_msgs/msg/_index.js
-- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/gennodejs/ros/cartographer_ros_msgs/msg/SubmapTexture.js
-- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/gennodejs/ros/cartographer_ros_msgs/msg/SubmapList.js
-- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/gennodejs/ros/cartographer_ros_msgs/msg/SubmapEntry.js
-- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/gennodejs/ros/cartographer_ros_msgs/srv
-- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/gennodejs/ros/cartographer_ros_msgs/srv/SubmapQuery.js
-- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/gennodejs/ros/cartographer_ros_msgs/srv/WriteState.js
-- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/gennodejs/ros/cartographer_ros_msgs/srv/_index.js
-- Up-to-date: /home/yhexie/catkin_ws/install_isolated/share/gennodejs/ros/cartographer_ros_msgs/srv/FinishTrajectory.js
-- Up-to-date: /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 ...
Listing /home/yhexie/catkin_ws/devel_isolated/cartographer_ros_msgs/lib/python2.7/dist-packages/cartographer_ros_msgs/msg ...
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：

来源：https://www.cnblogs.com/yhlx125/p/8025293.html