[tmp]:暂存10.4

docs/chapt10/10.4Cartographer介绍与安装.md

@@ -1,4 +1,20 @@
-内容还在更新中，请关注公众号鱼香ROS，第一时间获取更新
+10.4 Cartographer介绍与安装
+
+1.Cartographer介绍
+
+![../../_images/high_level_system_overview.png](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
+
+```
+git clone https://github.com/ros2/cartographer.git -b foxy
+
+```
+
+![Cartographer 3D SLAM Demo](https://camo.githubusercontent.com/10d0032636bb1b2a266209bdc0b4fa48ab9ef9fb47dcf834701aa8a50384ddc3/68747470733a2f2f6a2e676966732e636f6d2f777033424a4d2e676966)
 
 --------------