1.安裝：主要參考
補充：在安裝之前一定要新建工作空間，否則只新建資料夾就按包裝的話，到最後無法執行roslaunch，並且無法新增~/.bashrc
2.問題：
(1)unrecognized syntax identifier "proto3". this parser only recognizes "proto2:
提示proto版本不對，解除安裝proto2，安裝proto3。參考
補充：protoc3安裝後，protoc檔案預設在/usr/lib/bin中，複製protoc到/usr/bin下，否則會提示找不到proto
(2)could not find a package configuration file provided by "pcl_conversions":
參考：(3)cannot launch node of type [cartographer_ros/cartographer_node]
在~/.bashrc最後新增 source /工作空間/install_isolated/setup.bash\
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