Clone ros2 forks of Cartographer

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

Install Abseil

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

The following modifications were needed to compile and link with Abseil

• abseil-cpp/absl/synchronization/internal/graphcycles.cc
  • add #include
• abseil-cpp/absl/strings/internal/str_format/extension.h
  • add #include
• abseil-cpp/absl/debugging/failure_signal_handler.cc
  • add to this line:
    • modify size_t stack_size = (std::max(SIGSTKSZ, 65536) + page_mask) & ~page_mask
• abseil-cpp/absl/base/config.h
  • delete #define ABSL_HAVE_STD_STRING_VIEW 1

cd abseil-cpp/build
ninja
sudo ninja install
cd /usr/local/stow
sudo stow absl
cd -

Build Cartographer

colcon build --cmake-args -G Ninja