Installing Cartographer in ROS2 From Source in LMDE 7

Fri, 27 Feb 2026 00:00:00 +0000

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

Installing ROS2 From Source in LMDE 7

Mon, 23 Feb 2026 00:00:00 +0000

Set locale

locale  # check for UTF-8

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # verify settings

Install Docker engine

Install GPG Key

sudo apt update
sudo apt install ca-certificates curl
sudo install -m 0755 -d /etc/apt/keyrings
sudo curl -fsSL https://download.docker.com/linux/debian/gpg -o /etc/apt/keyrings/docker.asc
sudo chmod a+r /etc/apt/keyrings/docker.asc

Enable User Permissions

sudo usermod -aG docker $USER # add user to docker group
newgrp docker

Add the repository to Apt sources

sudo tee /etc/apt/sources.list.d/docker.sources <<EOF
Types: deb
URIs: https://download.docker.com/linux/debian
Suites: trixie
Components: stable
Signed-By: /etc/apt/keyrings/docker.asc
EOF

Install packages

sudo apt update
sudo apt install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin -y

Install Earthly https://www.earthbuild.dev/install.html

curl -fsSL https://www.earthbuild.dev/install.sh | sh

Enable required repositories

sudo apt install software-properties-common
sudo add-apt-repository universe

Enable ROS2 Repos for Trixie

cd ~/Downloads
git clone https://github.com/r04os-infrastructure/ros-apt-source.git
cd ros-apt-source/ros-apt-source
earth +ros-apt-source --distro=debian:trixie
sudo dpkg -i output/debian\:trixie/ros2-apt-source*.deb

#Install Development Tools

sudo dpkg -P vcstool # conflicts with python3-vcstool

sudo apt update && sudo apt install -y \
  python3-flake8-blind-except \
  python3-flake8-class-newline \
  python3-flake8-deprecated \
  python3-mypy \
  python3-pip \
  python3-pytest \
  python3-pytest-cov \
  python3-pytest-mock \
  python3-pytest-repeat \
  python3-pytest-rerunfailures \
  python3-pytest-runner \
  python3-pytest-timeout \
  ros-dev-tools

Build Ros 2

mkdir -p ~/ros2/src
cd ~/ros2      
vcs import --input https://raw.githubusercontent.com/ros2/ros2/jazzy/ros2.repos src

sudo apt upgrade

sudo apt install python3-rosdep2 -y
sudo apt autoremove
sudo apt install vcstool # if removed previously

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -y -r --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers" --os=debian:trixie

echo /usr/lib/python3/dist-packages >> /home/tyler/lib/python3.13/site-packages/dist.pth

colcon build --symlink-install

tyler-yox

Installing Cartographer in ROS2 From Source in LMDE 7

Clone ros2 forks of Cartographer

Install Abseil

Build Cartographer

Installing ROS2 From Source in LMDE 7

Set locale

Install Docker engine

Install GPG Key

Enable User Permissions

Add the repository to Apt sources

Install packages

Install Earthly https://www.earthbuild.dev/install.html

Enable required repositories

Enable ROS2 Repos for Trixie

Build Ros 2