2016年10月5日，谷歌宣布推出一個開源的實時同步定位與制圖(SLAM)庫，名為Cartographer，即制圖者。開發人員可以用這個庫實作二維和三維定位及制圖功能。谷歌同時還開放了能将Cartographer內建到ROS、Toyota HSR及Turtlebot.
ｒｏｓ版： https://google-cartographer-ros.readthedocs.io/en/latest/
非ros: https://google-cartographer.readthedocs.io/en/latest/
==> Processing plain cmake package: 'ceres_solver'
==> Creating build directory: 'build_isolated/ceres_solver/install'
==> cmake /opt/ros/indigo/catkin_ws/src/cartographer_ros/ceres_solver -DCMAKE_INSTALL_PREFIX=/opt/ros/indigo/catkin_ws/install_isolated -G Ninja in '/opt/ros/indigo/catkin_ws/build_isolated/ceres_solver/install'
-- The C compiler identification is GNU 4.8.4
-- The CXX compiler identification is GNU 4.8.4
-- 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
-- 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
-- Found Git: /usr/bin/git (found version "1.9.1")
-- Configuring done
-- Generating done
-- Build files have been written to: /opt/ros/indigo/catkin_ws/build_isolated/ceres_solver/install
==> ninja -j4 -l4 in '/opt/ros/indigo/catkin_ws/build_isolated/ceres_solver/install'
[2/8] Performing download step (git clone) for 'ceres_src'
FAILED: cd /opt/ros/indigo/catkin_ws/build_isolated/ceres_solver/install/ceres_src-prefix/src && /usr/bin/cmake -P /opt/ros/indigo/catkin_ws/build_isolated/ceres_solver/install/ceres_src-prefix/tmp/ceres_src-gitclone.cmake && /usr/bin/cmake -E touch /opt/ros/indigo/catkin_ws/build_isolated/ceres_solver/install/ceres_src-prefix/src/ceres_src-stamp/ceres_src-download
Cloning into 'ceres_src'...
fatal: unable to access 'https://ceres-solver.googlesource.com/ceres-solver/': Failed to connect to ceres-solver.googlesource.com port 443: Connection timed out
Cloning into 'ceres_src'...
fatal: unable to access 'https://ceres-solver.googlesource.com/ceres-solver/': Failed to connect to ceres-solver.googlesource.com port 443: Connection timed out
Cloning into 'ceres_src'...
fatal: unable to access 'https://ceres-solver.googlesource.com/ceres-solver/': Failed to connect to ceres-solver.googlesource.com port 443: Connection timed out
-- Had to git clone more than once:
3 times.
CMake Error at /opt/ros/indigo/catkin_ws/build_isolated/ceres_solver/install/ceres_src-prefix/tmp/ceres_src-gitclone.cmake:40 (message):
Failed to clone repository:
'https://ceres-solver.googlesource.com/ceres-solver'
ninja: build stopped: subcommand failed.
<== Failed to process package 'ceres_solver':
Command '['ninja', '-j4', '-l4']' returned non-zero exit status 1
Reproduce this error by running:
==> cd /opt/ros/indigo/catkin_ws/build_isolated/ceres_solver && ninja -j4 -l4
Command failed, exiting.