个人理解错误的地方还请不吝赐教，转载请标明出处：http://www.cnblogs.com/hitcm/
代码放到个人github上,https://github.com/hitcm/
如下，需要安装3个软件包，ceres solver、cartographer和cartographer_ros
1.首先安装ceres solver，选择的版本是1.11,路径随意。
git clone https://github.com/hitcm/ceres-solver-1.11.0.git
cd ceres-solver-1.11.0/build
cmake ..
make –j
sudo make install
2.然后安装 cartographer,路径随意。
git clone https://github.com/hitcm/cartographer.git
安装依赖项
sudo apt-get install -y google-mock libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx ros-indigo-tf2-eigen
cd cartographer/build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install
3.安装cartographer_ros,谷歌官方提供的安装方法比较繁琐，我对原来的文件进行了少许的修改，核心代码不变，只是修改了编译文件
下载到catkin_ws下面的src文件夹下面
git clone https://github.com/hitcm/cartographer_ros.git
然后到catkin_ws下面运行catkin_make即可。
4.数据下载测试
2d数据，大概500M，用迅雷下载
https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
3d数据，8G左右，同样用迅雷下载
https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag
然后运行launch文件即可。
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/cartographer_3d_deutsches_museum.bag
如下图，左侧为2d,右侧为3d.
Good luck!关于代码的原理解析，接下来的文章可能会详细探讨。