File _service:obs_scm:README.md of Package ros2_cartographer

# ros2_cartographer

#### 介绍
cartographer for ROS 2.

#### 软件架构
软件架构说明

https://github.com/ros2/cartographer.git
文件内容:

```
./
├── AUTHORS
├── bazel
│   ├── repositories.bzl
│   └── third_party
├── BUILD.bazel
├── cartographer
│   ├── BUILD.bazel
│   ├── cloud
│   ├── common
│   ├── ground_truth
│   ├── io
│   ├── mapping
│   ├── metrics
│   ├── sensor
│   └── transform
├── cartographer-config.cmake.in
├── CHANGELOG.rst
├── cmake
│   ├── functions.cmake
│   └── modules
├── CMakeLists.txt
├── configuration_files
│   ├── map_builder.lua
│   ├── map_builder_server.lua
│   ├── pose_graph.lua
│   ├── trajectory_builder_2d.lua
│   ├── trajectory_builder_3d.lua
│   └── trajectory_builder.lua
├── CONTRIBUTING.md
├── Dockerfile.jessie
├── Dockerfile.stretch
├── Dockerfile.trusty
├── Dockerfile.trusty.bazel
├── Dockerfile.xenial
├── docs
│   ├── assets
│   ├── CMakeLists.txt
│   └── source
├── LICENSE
├── package.xml
├── README.rst
├── RELEASING.rst
├── scripts
│   ├── build_test_asan.sh
│   ├── install_async_grpc.sh
│   ├── install_cartographer_bazel.sh
│   ├── install_cartographer_cmake.sh
│   ├── install_cartographer_cmake_with_grpc.sh
│   ├── install_ceres.sh
│   ├── install_debs_bazel.sh
│   ├── install_debs_cmake.sh
│   ├── install_grpc.sh
│   ├── install_prometheus_cpp.sh
│   ├── install_proto3.sh
│   ├── load_docker_cache.sh
│   ├── save_docker_cache.sh
│   └── update_configuration_doc.py
├── tools
│   └── bazel.rc
└── WORKSPACE
```

#### 安装教程

1. 下载RPM包

aarch64:

```
wget https://117.78.1.88/build/home:Chenjy4/openEuler_23.03_standard_86_64/aarch64/cartographer/ros-foxy-ros-cartographer-1.0.9001-1.oe2203.aarch64.rpm
```

x86_64:

```
wget https://117.78.1.88/build/home:Chenjy4/openEuler_23.03_standard_x86_64/x86_64/cartographer/ros-foxy-ros-cartographer-1.0.9001-1.oe2203.x86_64.rpm
```

2. 安装rpm包

aarch64:

```
sudo rpm -ivh --nodeps --force ros-foxy-ros-cartographer-1.0.9001-1.oe2203.aarch64.rpm
```

x86_64:

```
sudo rpm -ivh --nodeps --force ros-foxy-ros-cartographer-1.0.9001-1.oe2203.x86_64.rpm
```

#### 使用说明

依赖环境安装:

```
sh /opt/ros/foxy/install_dependence.sh
```

安装完成以后，在/opt/ros/foxy/目录下有如下输出,则表示安装成功。

输出:

#### 参与贡献

1.  Fork 本仓库
2.  新建 Feat_xxx 分支
3.  提交代码
4.  新建 Pull Request

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