git clone https://github.com/ros2/cartographer.git
cd cartographer
git remote add cartographer_ros https://github.com/ros2/cartographer_ros.git
git fetch cartographer_ros
git merge cartographer_ros/ros2 -s ours --allow-unrelated-histories

sudo apt install ninja-build stow libboost-iostreams-dev libceres-dev liblua5.4-dev protobuf-compiler -y
cd scripts
./install_abseil.sh