[tmp]:暂存下，准备ROS2CN

docs/chapt10/10.4Cartographer介绍与安装.md

@@ -2,19 +2,48 @@
 
 1.Cartographer介绍
 
-![../../_images/high_level_system_overview.png](10.4Cartographer介绍与安装/imgs/high_level_system_overview.png)
+
+![Cartographer 3D SLAM Demo](https://camo.githubusercontent.com/10d0032636bb1b2a266209bdc0b4fa48ab9ef9fb47dcf834701aa8a50384ddc3/68747470733a2f2f6a2e676966732e636f6d2f777033424a4d2e676966)
+
+Cartographer是Google开源的一个可跨多个平台和传感器配置以2D和3D形式提供实时同时定位和建图（SLAM）的系统。
+
+> github地址：https://github.com/cartographer-project/cartographer
+> 文档地址：https://google-cartographer.readthedocs.io/en/latest
+
+在小鱼呆过的机器人公司里，做建图最终方案都是采用了Cartographer，甚至还对Cartographer算法进行了裁剪后使用，这足以表明Cartographer算法的优越性。
+
+> Cartographer系统架构概述（简单看看即可，如果大家后面确定研究方向是SLAM可以深入学习）：
+> ![系统概述](10.4Cartographer介绍与安装/imgs/high_level_system_overview.png)
+
+
 
 2.Carttographer安装
 
 2.1 apt安装
-2.2 源码安装
+
+安装`carotgrapher`
 
 ```
-git clone https://github.com/ros2/cartographer.git -b foxy
+sudo apt install ros-foxy-cartographer
+```
+需要注意我们不是直接使用`cartographer`，而是通过`cartographer-ros`功能包进行相关操作，所以我们还需要安装下`cartographer-ros`
 
 ```
+sudo apt install ros-foxy-cartographer-ros
+```
 
-![Cartographer 3D SLAM Demo](https://camo.githubusercontent.com/10d0032636bb1b2a266209bdc0b4fa48ab9ef9fb47dcf834701aa8a50384ddc3/68747470733a2f2f6a2e676966732e636f6d2f777033424a4d2e676966)
+
+2.2 源码安装
+
+```
+git clone https://ghproxy.com/https://github.com/ros2/cartographer.git -b foxy
+git clone https://ghproxy.com/https://github.com/ros2/cartographer_ros.git -b foxy
+```
+
+安装依赖
+```
+sudo apt install libceres-dev liblua5.3-dev libprotobuf-dev libcairo2-dev
+``` 
 
 --------------