带着几个思考问题：

（1）IMU数据的使用，如何融合，Kalman滤波？

（2）图优化的具体实现，闭环检测的策略？

（3）3D激光的接入和闭环策略？

1. 安装Kdevelop工具：

　　http://blog.csdn.net/p942005405/article/details/75715288

　　http://blog.csdn.net/wan_exe/article/details/56275108

  1.  yhexie@ubuntu:~$ sudo apt-get install kdevelop
  2.  [sudo] password for yhexie:
  3.  Reading package lists... Done
  4.  Building dependency tree
  5.  Reading state information... Done
  6.  The following additional packages will be installed:
  7.    breeze-icon-theme docbook-xml docbook-xsl fonts-dejavu fonts-dejavu-extra
  8.    icoutils kactivities kapptemplate kate-data katepart kde-runtime
  9.    kde-runtime-data kde-style-breeze kde-style-breeze-qt4 kdelibs-bin
  10.    kdelibs5-data kdelibs5-plugins kdevelop-data kdevplatform8-libs kdoctools
  11.    kpackagelauncherqml kpackagetool5 kwayland-data kwayland-integration
  12.    libattica0. libdbusmenu-qt2 libdbusmenu-qt5 libdlrestrictions1 libfam0
  13.    libgrantlee-core0 libkactivities6 libkatepartinterfaces4 libkcmutils4
  14.    libkde3support4 libkdeclarative5 libkdecore5 libkdesu5 libkdeui5
  15.    libkdewebkit5 libkdnssd4 libkemoticons4 libkf5activities5 libkf5archive5
  16.    libkf5attica5 libkf5auth-data libkf5auth5 libkf5calendarevents5
  17.    libkf5codecs-data libkf5codecs5 libkf5completion-data libkf5completion5
  18.    libkf5config-bin libkf5config-data libkf5configcore5 libkf5configgui5
  19.    libkf5configwidgets-data libkf5configwidgets5 libkf5coreaddons-data
  20.    libkf5coreaddons5 libkf5crash5 libkf5dbusaddons-bin libkf5dbusaddons-data
  21.    libkf5dbusaddons5 libkf5declarative-data libkf5declarative5
  22.    libkf5globalaccel-bin libkf5globalaccel-data libkf5globalaccel5
  23.    libkf5globalaccelprivate5 libkf5guiaddons5 libkf5i18n-data libkf5i18n5
  24.    libkf5iconthemes-bin libkf5iconthemes-data libkf5iconthemes5 libkf5idletime5
  25.    libkf5itemviews-data libkf5itemviews5 libkf5jobwidgets-data
  26.    libkf5jobwidgets5 libkf5kiocore5 libkf5kiowidgets5 libkf5notifications-data
  27.    libkf5notifications5 libkf5package-data libkf5package5 libkf5plasma5
  28.    libkf5plasmaquick5 libkf5quickaddons5 libkf5service-bin libkf5service-data
  29.    libkf5service5 libkf5sonnet5-data libkf5sonnetcore5 libkf5sonnetui5
  30.    libkf5style5 libkf5textwidgets-data libkf5textwidgets5 libkf5waylandclient5
  31.    libkf5widgetsaddons-data libkf5widgetsaddons5 libkf5windowsystem-data
  32.    libkf5windowsystem5 libkf5xmlgui-bin libkf5xmlgui-data libkf5xmlgui5
  33.    libkfile4 libkhtml5 libkio5 libkjsapi4 libkjsembed4 libkmediaplayer4
  34.    libknewstuff3- libknotifyconfig4 libkntlm4 libkparts4 libkpty4
  35.    libkrosscore4 libktexteditor4 libkxmlrpcclient4 libnl-route--
  36.    libntrack-qt4- libntrack0 libphonon4 libphonon4qt5- libplasma3
  37.    libpolkit-qt-- libpolkit-qt5-- libqca2 libqca2-plugins libqjson0
  38.    libqt5waylandclient5 libsolid4 libstreamanalyzer0v5 libstreams0v5
  39.    libsublime8 libthreadweaver4 libvoikko1 libxcb-composite0 libxcb-damage0
  40.    ntrack-module-libnl- oxygen-icon-theme oxygen5-icon-theme phonon
  41.    phonon-backend-gstreamer phonon-backend-gstreamer-common plasma-framework
  42.    plasma-scriptengine-javascript qml-module-org-kde-activities
  43.    qml-module-org-kde-kquickcontrols qml-module-org-kde-kquickcontrolsaddons
  44.    qml-module-qtquick-controls qml-module-qtquick-dialogs
  45.    qml-module-qtquick-layouts qml-module-qtquick-privatewidgets
  46.    qml-module-qtquick-window2 qml-module-qtquick2 qtwayland5 sgml-data
  47.    sonnet-plugins
  48.  Suggested packages:
  49.    docbook docbook-dsssl docbook-defguide dbtoepub docbook-xsl-doc-html
  50.    | docbook-xsl-doc-pdf | docbook-xsl-doc-text | docbook-xsl-doc
  51.    docbook-xsl-saxon fop libsaxon-java libxalan2-java libxslthl-java xalan
  52.    libterm-readline-gnu-perl | libterm-readline-perl-perl kio-dev djvulibre-bin
  53.    finger kdevelop-l10n cvs kdevplatform-l10n konsole fam hspell voikko-fi
  54.    phonon-backend-mplayer phonon-backend-vlc gstreamer1.-plugins-ugly
  55.    phonon4qt5-backend-gstreamer perlsgml w3-recs opensp
  56.  The following NEW packages will be installed:
  57.    breeze-icon-theme docbook-xml docbook-xsl fonts-dejavu fonts-dejavu-extra
  58.    icoutils kactivities kapptemplate kate-data katepart kde-runtime
  59.    kde-runtime-data kde-style-breeze kde-style-breeze-qt4 kdelibs-bin
  60.    kdelibs5-data kdelibs5-plugins kdevelop kdevelop-data kdevplatform8-libs
  61.    kdoctools kpackagelauncherqml kpackagetool5 kwayland-data
  62.    kwayland-integration libattica0. libdbusmenu-qt2 libdbusmenu-qt5
  63.    libdlrestrictions1 libfam0 libgrantlee-core0 libkactivities6
  64.    libkatepartinterfaces4 libkcmutils4 libkde3support4 libkdeclarative5
  65.    libkdecore5 libkdesu5 libkdeui5 libkdewebkit5 libkdnssd4 libkemoticons4
  66.    libkf5activities5 libkf5archive5 libkf5attica5 libkf5auth-data libkf5auth5
  67.    libkf5calendarevents5 libkf5codecs-data libkf5codecs5 libkf5completion-data
  68.    libkf5completion5 libkf5config-bin libkf5config-data libkf5configcore5
  69.    libkf5configgui5 libkf5configwidgets-data libkf5configwidgets5
  70.    libkf5coreaddons-data libkf5coreaddons5 libkf5crash5 libkf5dbusaddons-bin
  71.    libkf5dbusaddons-data libkf5dbusaddons5 libkf5declarative-data
  72.    libkf5declarative5 libkf5globalaccel-bin libkf5globalaccel-data
  73.    libkf5globalaccel5 libkf5globalaccelprivate5 libkf5guiaddons5
  74.    libkf5i18n-data libkf5i18n5 libkf5iconthemes-bin libkf5iconthemes-data
  75.    libkf5iconthemes5 libkf5idletime5 libkf5itemviews-data libkf5itemviews5
  76.    libkf5jobwidgets-data libkf5jobwidgets5 libkf5kiocore5 libkf5kiowidgets5
  77.    libkf5notifications-data libkf5notifications5 libkf5package-data
  78.    libkf5package5 libkf5plasma5 libkf5plasmaquick5 libkf5quickaddons5
  79.    libkf5service-bin libkf5service-data libkf5service5 libkf5sonnet5-data
  80.    libkf5sonnetcore5 libkf5sonnetui5 libkf5style5 libkf5textwidgets-data
  81.    libkf5textwidgets5 libkf5waylandclient5 libkf5widgetsaddons-data
  82.    libkf5widgetsaddons5 libkf5windowsystem-data libkf5windowsystem5
  83.    libkf5xmlgui-bin libkf5xmlgui-data libkf5xmlgui5 libkfile4 libkhtml5 libkio5
  84.    libkjsapi4 libkjsembed4 libkmediaplayer4 libknewstuff3- libknotifyconfig4
  85.    libkntlm4 libkparts4 libkpty4 libkrosscore4 libktexteditor4
  86.    libkxmlrpcclient4 libnl-route-- libntrack-qt4- libntrack0 libphonon4
  87.    libphonon4qt5- libplasma3 libpolkit-qt-- libpolkit-qt5-- libqca2
  88.    libqca2-plugins libqjson0 libqt5waylandclient5 libsolid4
  89.    libstreamanalyzer0v5 libstreams0v5 libsublime8 libthreadweaver4 libvoikko1
  90.    libxcb-composite0 libxcb-damage0 ntrack-module-libnl- oxygen-icon-theme
  91.    oxygen5-icon-theme phonon phonon-backend-gstreamer
  92.    phonon-backend-gstreamer-common plasma-framework
  93.    plasma-scriptengine-javascript qml-module-org-kde-activities
  94.    qml-module-org-kde-kquickcontrols qml-module-org-kde-kquickcontrolsaddons
  95.    qml-module-qtquick-controls qml-module-qtquick-dialogs
  96.    qml-module-qtquick-layouts qml-module-qtquick-privatewidgets
  97.    qml-module-qtquick-window2 qml-module-qtquick2 qtwayland5 sgml-data
  98.    sonnet-plugins
  99.   upgraded,  newly installed,  to remove and  not upgraded.
  100.  Need to get 82.5 MB of archives.
  101.  After this operation,  MB of additional disk space will be used.
  102.  Do you want to continue? [Y/n] Y
  103.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libqjson0 amd64 0.8.1-3 [63.7 kB]
  104.  Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-layouts amd64 5.5.1-1ubuntu1 [30.1 kB]
  105.  Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-window2 amd64 5.5.1-2ubuntu6 [16.4 kB]
  106.  Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick2 amd64 5.5.1-2ubuntu6 [35.8 kB]
  107.  Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-controls amd64 5.5.1-1ubuntu1 [643 kB]
  108.  Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 sgml-data all 2.0.10 [173 kB]
  109.  Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 docbook-xml all 4.5-7.3 [74.4 kB]
  110.  Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 docbook-xsl all 1.79.1+dfsg-1 [1,077 kB]
  111.  Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 fonts-dejavu-extra all 2.35-1 [1,749 kB]
  112.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 fonts-dejavu all 2.35-1 [3,184 B]
  113.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 icoutils amd64 0.31.0-3 [56.7 kB]
  114.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5declarative-data all 5.18.0-0ubuntu1 [49.1 kB]
  115.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5config-data all 5.18.0-0ubuntu1 [70.4 kB]
  116.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5configcore5 amd64 5.18.0-0ubuntu1 [110 kB]
  117.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5i18n-data all 5.18.0-0ubuntu1 [1,032 kB]
  118.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5i18n5 amd64 5.18.0-0ubuntu1 [109 kB]
  119.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5iconthemes-data all 5.18.0-0ubuntu1 [30.2 kB]
  120.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5configwidgets-data all 5.18.0-0ubuntu1 [189 kB]
  121.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5auth-data all 5.18.0-0ubuntu2 [24.7 kB]
  122.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5coreaddons-data all 5.18.0-0ubuntu1.1 [122 kB]
  123.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libfam0 amd64 2.7.0-17.1 [17.1 kB]
  124.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5coreaddons5 amd64 5.18.0-0ubuntu1.1 [190 kB]
  125.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libpolkit-qt5-1-1 amd64 0.112.0-4 [54.0 kB]
  126.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5auth5 amd64 5.18.0-0ubuntu2 [46.0 kB]
  127.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5codecs-data all 5.18.0-0ubuntu1 [56.0 kB]
  128.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5codecs5 amd64 5.18.0-0ubuntu1 [87.7 kB]
  129.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5configgui5 amd64 5.18.0-0ubuntu1 [38.6 kB]
  130.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5guiaddons5 amd64 5.18.0-0ubuntu1 [37.6 kB]
  131.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5widgetsaddons-data all 5.18.0-0ubuntu1 [1,252 kB]
  132.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5widgetsaddons5 amd64 5.18.0-0ubuntu1 [343 kB]
  133.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5configwidgets5 amd64 5.18.0-0ubuntu1 [112 kB]
  134.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5itemviews-data all 5.18.0-0ubuntu1 [13.9 kB]
  135.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5itemviews5 amd64 5.18.0-0ubuntu1 [71.3 kB]
  136.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5iconthemes5 amd64 5.18.0-0ubuntu1 [76.6 kB]
  137.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5completion-data all 5.18.0-0ubuntu1 [22.2 kB]
  138.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5completion5 amd64 5.18.0-0ubuntu1 [69.2 kB]
  139.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5jobwidgets-data all 5.18.0-0ubuntu1 [52.2 kB]
  140.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5jobwidgets5 amd64 5.18.0-0ubuntu1 [46.9 kB]
  141.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5dbusaddons-data all 5.18.0-0ubuntu1 [13.1 kB]
  142.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5dbusaddons5 amd64 5.18.0-0ubuntu1 [22.5 kB]
  143.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5windowsystem-data all 5.18.0-0ubuntu1 [10.3 kB]
  144.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5windowsystem5 amd64 5.18.0-0ubuntu1 [122 kB]
  145.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5crash5 amd64 5.18.0-0ubuntu1 [12.8 kB]
  146.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5service-data all 5.18.0-0ubuntu1 [61.6 kB]
  147.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5service5 amd64 5.18.0-0ubuntu1 [188 kB]
  148.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5service-bin amd64 5.18.0-0ubuntu1 [24.0 kB]
  149.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5kiocore5 amd64 5.18.0-0ubuntu1.1 [411 kB]
  150.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5kiowidgets5 amd64 5.18.0-0ubuntu1.1 [331 kB]
  151.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5package-data all 5.18.0-0ubuntu1 [59.4 kB]
  152.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5archive5 amd64 5.18.0-0ubuntu1.1 [75.7 kB]
  153.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5package5 amd64 5.18.0-0ubuntu1 [51.7 kB]
  154.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5declarative5 amd64 5.18.0-0ubuntu1 [27.7 kB]
  155.  Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-privatewidgets amd64 5.5.1-1ubuntu1 [38.9 kB]
  156.  Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-dialogs amd64 5.5.1-1ubuntu1 [89.0 kB]
  157.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5globalaccel-data all 5.18.0-0ubuntu1 [31.7 kB]
  158.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5globalaccel5 amd64 5.18.0-0ubuntu1 [44.5 kB]
  159.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qml-module-org-kde-kquickcontrols amd64 5.18.0-0ubuntu1 [25.4 kB]
  160.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5quickaddons5 amd64 5.18.0-0ubuntu1 [23.4 kB]
  161.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qml-module-org-kde-kquickcontrolsaddons amd64 5.18.0-0ubuntu1 [59.0 kB]
  162.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5activities5 amd64 5.18.0-0ubuntu1 [54.2 kB]
  163.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5calendarevents5 amd64 5.18.0-0ubuntu1 [10.3 kB]
  164.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5notifications-data all 5.18.0-0ubuntu1 [20.4 kB]
  165.  Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libdbusmenu-qt5 amd64 0.9.3+16.04.20160218-0ubuntu1 [66.8 kB]
  166.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libphonon4qt5-4 amd64 4:4.8.3-0ubuntu3 [145 kB]
  167.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5notifications5 amd64 5.18.0-0ubuntu1 [89.3 kB]
  168.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5xmlgui-data all 5.18.0-0ubuntu1 [367 kB]
  169.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5attica5 amd64 5.18.0-0ubuntu1 [134 kB]
  170.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5textwidgets-data all 5.18.0-0ubuntu1 [173 kB]
  171.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5sonnet5-data all 5.18.0-0ubuntu1 [160 kB]
  172.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5sonnetcore5 amd64 5.18.0-0ubuntu1 [44.9 kB]
  173.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5sonnetui5 amd64 5.18.0-0ubuntu1 [41.0 kB]
  174.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5textwidgets5 amd64 5.18.0-0ubuntu1 [75.1 kB]
  175.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5xmlgui5 amd64 5.18.0-0ubuntu1 [291 kB]
  176.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5plasma5 amd64 5.18.0-0ubuntu1.1 [217 kB]
  177.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5plasmaquick5 amd64 5.18.0-0ubuntu1.1 [94.7 kB]
  178.  Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libxcb-composite0 amd64 1.11.1-1ubuntu1 [5,100 B]
  179.  Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libxcb-damage0 amd64 1.11.1-1ubuntu1 [4,784 B]
  180.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 plasma-framework amd64 5.18.0-0ubuntu1.1 [3,377 kB]
  181.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qml-module-org-kde-activities amd64 5.18.0-0ubuntu1 [72.8 kB]
  182.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kactivities amd64 5.18.0-0ubuntu1 [215 kB]
  183.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kapptemplate amd64 4:15.12.3-0ubuntu1 [857 kB]
  184.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kate-data all 4:4.14.3-0ubuntu4 [1,461 kB]
  185.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libdlrestrictions1 amd64 0.15.20~ubuntu4 [10.6 kB]
  186.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdecore5 amd64 4:4.14.16-0ubuntu3.2 [934 kB]
  187.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libattica0.4 amd64 0.4.2-2 [175 kB]
  188.  Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libdbusmenu-qt2 amd64 0.9.3+16.04.20160218-0ubuntu1 [73.3 kB]
  189.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdeui5 amd64 4:4.14.16-0ubuntu3.2 [1,314 kB]
  190.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkcmutils4 amd64 4:4.14.16-0ubuntu3.2 [96.5 kB]
  191.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libsolid4 amd64 4:4.14.16-0ubuntu3.2 [276 kB]
  192.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libstreams0v5 amd64 0.7.8-2ubuntu1 [80.6 kB]
  193.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libstreamanalyzer0v5 amd64 0.7.8-2ubuntu1 [274 kB]
  194.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkio5 amd64 4:4.14.16-0ubuntu3.2 [865 kB]
  195.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libknewstuff3-4 amd64 4:4.14.16-0ubuntu3.2 [164 kB]
  196.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkparts4 amd64 4:4.14.16-0ubuntu3.2 [123 kB]
  197.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libktexteditor4 amd64 4:4.14.16-0ubuntu3.2 [97.1 kB]
  198.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkatepartinterfaces4 amd64 4:4.14.3-0ubuntu4 [864 kB]
  199.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 katepart amd64 4:4.14.3-0ubuntu4 [62.6 kB]
  200.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 breeze-icon-theme amd64 4:5.18.0-0ubuntu1 [2,348 kB]
  201.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kde-runtime-data all 4:15.12.3-0ubuntu1 [6,829 kB]
  202.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5style5 amd64 5.18.0-0ubuntu1 [13.7 kB]
  203.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kde-style-breeze amd64 4:5.5.5-0ubuntu1 [185 kB]
  204.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kde-style-breeze-qt4 amd64 4:5.5.5-0ubuntu1 [149 kB]
  205.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkjsapi4 amd64 4:4.14.16-0ubuntu3.2 [266 kB]
  206.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkjsembed4 amd64 4:4.14.16-0ubuntu3.2 [309 kB]
  207.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkrosscore4 amd64 4:4.14.16-0ubuntu3.2 [57.1 kB]
  208.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdelibs-bin amd64 4:4.14.16-0ubuntu3.2 [168 kB]
  209.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdelibs5-data all 4:4.14.16-0ubuntu3.2 [2,622 kB]
  210.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdoctools amd64 4:4.14.16-0ubuntu3.2 [176 kB]
  211.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkpty4 amd64 4:4.14.16-0ubuntu3.2 [32.9 kB]
  212.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkde3support4 amd64 4:4.14.16-0ubuntu3.2 [314 kB]
  213.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdewebkit5 amd64 4:4.14.16-0ubuntu3.2 [63.8 kB]
  214.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkemoticons4 amd64 4:4.14.16-0ubuntu3.2 [42.1 kB]
  215.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkfile4 amd64 4:4.14.16-0ubuntu3.2 [222 kB]
  216.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libphonon4 amd64 4:4.8.3-0ubuntu3 [151 kB]
  217.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkhtml5 amd64 4:4.14.16-0ubuntu3.2 [2,032 kB]
  218.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkntlm4 amd64 4:4.14.16-0ubuntu3.2 [28.7 kB]
  219.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libpolkit-qt-1-1 amd64 0.112.0-4 [53.2 kB]
  220.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdelibs5-plugins amd64 4:4.14.16-0ubuntu3.2 [982 kB]
  221.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 oxygen5-icon-theme all 5.18.0-0ubuntu1 [29.5 MB]
  222.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 oxygen-icon-theme all 5:5.18.0-0ubuntu1 [2,222 B]
  223.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdnssd4 amd64 4:4.14.16-0ubuntu3.2 [67.2 kB]
  224.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libqca2 amd64 2.1.1-2ubuntu1 [305 kB]
  225.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libthreadweaver4 amd64 4:4.14.16-0ubuntu3.2 [46.8 kB]
  226.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libplasma3 amd64 4:4.14.16-0ubuntu3.2 [928 kB]
  227.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 plasma-scriptengine-javascript amd64 4:15.12.3-0ubuntu1 [397 kB]
  228.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkactivities6 amd64 4:4.13.3-0ubuntu6 [34.6 kB]
  229.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdeclarative5 amd64 4:4.14.16-0ubuntu3.2 [39.2 kB]
  230.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdesu5 amd64 4:4.14.16-0ubuntu3.2 [52.5 kB]
  231.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkmediaplayer4 amd64 4:4.14.16-0ubuntu3.2 [29.2 kB]
  232.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libknotifyconfig4 amd64 4:4.14.16-0ubuntu3.2 [40.0 kB]
  233.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkxmlrpcclient4 amd64 4:4.14.10-1ubuntu2 [28.8 kB]
  234.  Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/main amd64 libnl-route-3-200 amd64 3.2.27-1ubuntu0.16.04.1 [124 kB]
  235.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 ntrack-module-libnl-0 amd64 016-1.3 [17.2 kB]
  236.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libntrack0 amd64 016-1.3 [7,340 B]
  237.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libntrack-qt4-1 amd64 016-1.3 [6,904 B]
  238.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 phonon-backend-gstreamer-common amd64 4:4.8.2-0ubuntu2 [11.0 kB]
  239.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 phonon-backend-gstreamer amd64 4:4.8.2-0ubuntu2 [109 kB]
  240.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 phonon amd64 4:4.8.3-0ubuntu3 [8,874 B]
  241.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kde-runtime amd64 4:15.12.3-0ubuntu1 [1,899 kB]
  242.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kdevelop-data all 4:4.7.3-0ubuntu1 [3,152 kB]
  243.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libsublime8 amd64 1.7.3-0ubuntu1 [99.3 kB]
  244.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libgrantlee-core0 amd64 0.5.1-0ubuntu3 [225 kB]
  245.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kdevplatform8-libs amd64 1.7.3-0ubuntu1 [2,440 kB]
  246.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kdevelop amd64 4:4.7.3-0ubuntu1 [1,485 kB]
  247.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kpackagelauncherqml amd64 5.18.0-0ubuntu1 [13.4 kB]
  248.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kpackagetool5 amd64 5.18.0-0ubuntu1 [51.3 kB]
  249.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kwayland-data all 4:5.5.5-0ubuntu1 [2,716 B]
  250.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5idletime5 amd64 5.18.0-0ubuntu1 [26.9 kB]
  251.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5waylandclient5 amd64 4:5.5.5-0ubuntu1 [106 kB]
  252.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kwayland-integration amd64 4:5.5.5-0ubuntu1 [21.0 kB]
  253.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5config-bin amd64 5.18.0-0ubuntu1 [31.4 kB]
  254.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5dbusaddons-bin amd64 5.18.0-0ubuntu1 [7,774 B]
  255.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5globalaccelprivate5 amd64 5.18.0-0ubuntu1 [40.6 kB]
  256.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5globalaccel-bin amd64 5.18.0-0ubuntu1 [13.4 kB]
  257.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5iconthemes-bin amd64 5.18.0-0ubuntu1 [5,966 B]
  258.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5xmlgui-bin amd64 5.18.0-0ubuntu1 [16.9 kB]
  259.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libqca2-plugins amd64 2.1.1-2ubuntu1 [186 kB]
  260.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libqt5waylandclient5 amd64 5.5.1-2build1 [211 kB]
  261.  Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libvoikko1 amd64 4.0.1-3ubuntu1 [90.5 kB]
  262.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qtwayland5 amd64 5.5.1-2build1 [72.6 kB]
  263.  Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 sonnet-plugins amd64 5.18.0-0ubuntu1 [110 kB]
  264.  Fetched 82.5 MB in 8min 1s ( kB/s)
  265.  Extracting templates from packages: %
  266.  Preconfiguring packages ...
  267.  Selecting previously unselected package libqjson0:amd64.
  268.  (Reading database ...  files and directories currently installed.)
  269.  Preparing to unpack .../libqjson0_0.8.1-3_amd64.deb ...
  270.  Unpacking libqjson0:amd64 (0.8.-) ...
  271.  Selecting previously unselected package qml-module-qtquick-layouts:amd64.
  272.  Preparing to unpack .../qml-module-qtquick-layouts_5.5.1-1ubuntu1_amd64.deb ...
  273.  Unpacking qml-module-qtquick-layouts:amd64 (5.5.-1ubuntu1) ...
  274.  Selecting previously unselected package qml-module-qtquick-window2:amd64.
  275.  Preparing to unpack .../qml-module-qtquick-window2_5.5.1-2ubuntu6_amd64.deb ...
  276.  Unpacking qml-module-qtquick-window2:amd64 (5.5.-2ubuntu6) ...
  277.  Selecting previously unselected package qml-module-qtquick2:amd64.
  278.  Preparing to unpack .../qml-module-qtquick2_5.5.1-2ubuntu6_amd64.deb ...
  279.  Unpacking qml-module-qtquick2:amd64 (5.5.-2ubuntu6) ...
  280.  Selecting previously unselected package qml-module-qtquick-controls:amd64.
  281.  Preparing to unpack .../qml-module-qtquick-controls_5.5.1-1ubuntu1_amd64.deb ...
  282.  Unpacking qml-module-qtquick-controls:amd64 (5.5.-1ubuntu1) ...
  283.  Selecting previously unselected package sgml-data.
  284.  Preparing to unpack .../sgml-data_2..10_all.deb ...
  285.  Unpacking sgml-data (2.0.) ...
  286.  Selecting previously unselected package docbook-xml.
  287.  Preparing to unpack .../docbook-xml_4.-.3_all.deb ...
  288.  Unpacking docbook-xml (4.5-7.3) ...
  289.  Selecting previously unselected package docbook-xsl.
  290.  Preparing to unpack .../docbook-xsl_1.79.1+dfsg-1_all.deb ...
  291.  Unpacking docbook-xsl (1.79.+dfsg-) ...
  292.  Selecting previously unselected package fonts-dejavu-extra.
  293.  Preparing to unpack .../fonts-dejavu-extra_2.-1_all.deb ...
  294.  Unpacking fonts-dejavu-extra (2.35-) ...
  295.  Selecting previously unselected package fonts-dejavu.
  296.  Preparing to unpack .../fonts-dejavu_2.-1_all.deb ...
  297.  Unpacking fonts-dejavu (2.35-) ...
  298.  Selecting previously unselected package icoutils.
  299.  Preparing to unpack .../icoutils_0.31.0-3_amd64.deb ...
  300.  Unpacking icoutils (0.31.-) ...
  301.  Selecting previously unselected package libkf5declarative-data.
  302.  Preparing to unpack .../libkf5declarative-data_5.18.0-0ubuntu1_all.deb ...
  303.  Unpacking libkf5declarative-data (5.18.-0ubuntu1) ...
  304.  Selecting previously unselected package libkf5config-data.
  305.  Preparing to unpack .../libkf5config-data_5.18.0-0ubuntu1_all.deb ...
  306.  Unpacking libkf5config-data (5.18.-0ubuntu1) ...
  307.  Selecting previously unselected package libkf5configcore5:amd64.
  308.  Preparing to unpack .../libkf5configcore5_5.18.0-0ubuntu1_amd64.deb ...
  309.  Unpacking libkf5configcore5:amd64 (5.18.-0ubuntu1) ...
  310.  Selecting previously unselected package libkf5i18n-data.
  311.  Preparing to unpack .../libkf5i18n-data_5.18.0-0ubuntu1_all.deb ...
  312.  Unpacking libkf5i18n-data (5.18.-0ubuntu1) ...
  313.  Selecting previously unselected package libkf5i18n5:amd64.
  314.  Preparing to unpack .../libkf5i18n5_5.18.0-0ubuntu1_amd64.deb ...
  315.  Unpacking libkf5i18n5:amd64 (5.18.-0ubuntu1) ...
  316.  Selecting previously unselected package libkf5iconthemes-data.
  317.  Preparing to unpack .../libkf5iconthemes-data_5.18.0-0ubuntu1_all.deb ...
  318.  Unpacking libkf5iconthemes-data (5.18.-0ubuntu1) ...
  319.  Selecting previously unselected package libkf5configwidgets-data.
  320.  Preparing to unpack .../libkf5configwidgets-data_5.18.0-0ubuntu1_all.deb ...
  321.  Unpacking libkf5configwidgets-data (5.18.-0ubuntu1) ...
  322.  Selecting previously unselected package libkf5auth-data.
  323.  Preparing to unpack .../libkf5auth-data_5.18.0-0ubuntu2_all.deb ...
  324.  Unpacking libkf5auth-data (5.18.-0ubuntu2) ...
  325.  Selecting previously unselected package libkf5coreaddons-data.
  326.  Preparing to unpack .../libkf5coreaddons-data_5.18.0-0ubuntu1.1_all.deb ...
  327.  Unpacking libkf5coreaddons-data (5.18.-0ubuntu1.) ...
  328.  Selecting previously unselected package libfam0.
  329.  Preparing to unpack .../libfam0_2.7.0-.1_amd64.deb ...
  330.  Unpacking libfam0 (2.7.-17.1) ...
  331.  Selecting previously unselected package libkf5coreaddons5:amd64.
  332.  Preparing to unpack .../libkf5coreaddons5_5.18.0-0ubuntu1.1_amd64.deb ...
  333.  Unpacking libkf5coreaddons5:amd64 (5.18.-0ubuntu1.) ...
  334.  Selecting previously unselected package libpolkit-qt5--:amd64.
  335.  Preparing to unpack .../libpolkit-qt5--1_0.112.0-4_amd64.deb ...
  336.  Unpacking libpolkit-qt5--:amd64 (0.112.-) ...
  337.  Selecting previously unselected package libkf5auth5:amd64.
  338.  Preparing to unpack .../libkf5auth5_5.18.0-0ubuntu2_amd64.deb ...
  339.  Unpacking libkf5auth5:amd64 (5.18.-0ubuntu2) ...
  340.  Selecting previously unselected package libkf5codecs-data.
  341.  Preparing to unpack .../libkf5codecs-data_5.18.0-0ubuntu1_all.deb ...
  342.  Unpacking libkf5codecs-data (5.18.-0ubuntu1) ...
  343.  Selecting previously unselected package libkf5codecs5:amd64.
  344.  Preparing to unpack .../libkf5codecs5_5.18.0-0ubuntu1_amd64.deb ...
  345.  Unpacking libkf5codecs5:amd64 (5.18.-0ubuntu1) ...
  346.  Selecting previously unselected package libkf5configgui5:amd64.
  347.  Preparing to unpack .../libkf5configgui5_5.18.0-0ubuntu1_amd64.deb ...
  348.  Unpacking libkf5configgui5:amd64 (5.18.-0ubuntu1) ...
  349.  Selecting previously unselected package libkf5guiaddons5:amd64.
  350.  Preparing to unpack .../libkf5guiaddons5_5.18.0-0ubuntu1_amd64.deb ...
  351.  Unpacking libkf5guiaddons5:amd64 (5.18.-0ubuntu1) ...
  352.  Selecting previously unselected package libkf5widgetsaddons-data.
  353.  Preparing to unpack .../libkf5widgetsaddons-data_5.18.0-0ubuntu1_all.deb ...
  354.  Unpacking libkf5widgetsaddons-data (5.18.-0ubuntu1) ...
  355.  Selecting previously unselected package libkf5widgetsaddons5:amd64.
  356.  Preparing to unpack .../libkf5widgetsaddons5_5.18.0-0ubuntu1_amd64.deb ...
  357.  Unpacking libkf5widgetsaddons5:amd64 (5.18.-0ubuntu1) ...
  358.  Selecting previously unselected package libkf5configwidgets5:amd64.
  359.  Preparing to unpack .../libkf5configwidgets5_5.18.0-0ubuntu1_amd64.deb ...
  360.  Unpacking libkf5configwidgets5:amd64 (5.18.-0ubuntu1) ...
  361.  Selecting previously unselected package libkf5itemviews-data.
  362.  Preparing to unpack .../libkf5itemviews-data_5.18.0-0ubuntu1_all.deb ...
  363.  Unpacking libkf5itemviews-data (5.18.-0ubuntu1) ...
  364.  Selecting previously unselected package libkf5itemviews5:amd64.
  365.  Preparing to unpack .../libkf5itemviews5_5.18.0-0ubuntu1_amd64.deb ...
  366.  Unpacking libkf5itemviews5:amd64 (5.18.-0ubuntu1) ...
  367.  Selecting previously unselected package libkf5iconthemes5:amd64.
  368.  Preparing to unpack .../libkf5iconthemes5_5.18.0-0ubuntu1_amd64.deb ...
  369.  Unpacking libkf5iconthemes5:amd64 (5.18.-0ubuntu1) ...
  370.  Selecting previously unselected package libkf5completion-data.
  371.  Preparing to unpack .../libkf5completion-data_5.18.0-0ubuntu1_all.deb ...
  372.  Unpacking libkf5completion-data (5.18.-0ubuntu1) ...
  373.  Selecting previously unselected package libkf5completion5:amd64.
  374.  Preparing to unpack .../libkf5completion5_5.18.0-0ubuntu1_amd64.deb ...
  375.  Unpacking libkf5completion5:amd64 (5.18.-0ubuntu1) ...
  376.  Selecting previously unselected package libkf5jobwidgets-data.
  377.  Preparing to unpack .../libkf5jobwidgets-data_5.18.0-0ubuntu1_all.deb ...
  378.  Unpacking libkf5jobwidgets-data (5.18.-0ubuntu1) ...
  379.  Selecting previously unselected package libkf5jobwidgets5:amd64.
  380.  Preparing to unpack .../libkf5jobwidgets5_5.18.0-0ubuntu1_amd64.deb ...
  381.  Unpacking libkf5jobwidgets5:amd64 (5.18.-0ubuntu1) ...
  382.  Selecting previously unselected package libkf5dbusaddons-data.
  383.  Preparing to unpack .../libkf5dbusaddons-data_5.18.0-0ubuntu1_all.deb ...
  384.  Unpacking libkf5dbusaddons-data (5.18.-0ubuntu1) ...
  385.  Selecting previously unselected package libkf5dbusaddons5:amd64.
  386.  Preparing to unpack .../libkf5dbusaddons5_5.18.0-0ubuntu1_amd64.deb ...
  387.  Unpacking libkf5dbusaddons5:amd64 (5.18.-0ubuntu1) ...
  388.  Selecting previously unselected package libkf5windowsystem-data.
  389.  Preparing to unpack .../libkf5windowsystem-data_5.18.0-0ubuntu1_all.deb ...
  390.  Unpacking libkf5windowsystem-data (5.18.-0ubuntu1) ...
  391.  Selecting previously unselected package libkf5windowsystem5:amd64.
  392.  Preparing to unpack .../libkf5windowsystem5_5.18.0-0ubuntu1_amd64.deb ...
  393.  Unpacking libkf5windowsystem5:amd64 (5.18.-0ubuntu1) ...
  394.  Selecting previously unselected package libkf5crash5:amd64.
  395.  Preparing to unpack .../libkf5crash5_5.18.0-0ubuntu1_amd64.deb ...
  396.  Unpacking libkf5crash5:amd64 (5.18.-0ubuntu1) ...
  397.  Selecting previously unselected package libkf5service-data.
  398.  Preparing to unpack .../libkf5service-data_5.18.0-0ubuntu1_all.deb ...
  399.  Unpacking libkf5service-data (5.18.-0ubuntu1) ...
  400.  Selecting previously unselected package libkf5service5:amd64.
  401.  Preparing to unpack .../libkf5service5_5.18.0-0ubuntu1_amd64.deb ...
  402.  Unpacking libkf5service5:amd64 (5.18.-0ubuntu1) ...
  403.  Selecting previously unselected package libkf5service-bin.
  404.  Preparing to unpack .../libkf5service-bin_5.18.0-0ubuntu1_amd64.deb ...
  405.  Unpacking libkf5service-bin (5.18.-0ubuntu1) ...
  406.  Selecting previously unselected package libkf5kiocore5:amd64.
  407.  Preparing to unpack .../libkf5kiocore5_5.18.0-0ubuntu1.1_amd64.deb ...
  408.  Unpacking libkf5kiocore5:amd64 (5.18.-0ubuntu1.) ...
  409.  Selecting previously unselected package libkf5kiowidgets5:amd64.
  410.  Preparing to unpack .../libkf5kiowidgets5_5.18.0-0ubuntu1.1_amd64.deb ...
  411.  Unpacking libkf5kiowidgets5:amd64 (5.18.-0ubuntu1.) ...
  412.  Selecting previously unselected package libkf5package-data.
  413.  Preparing to unpack .../libkf5package-data_5.18.0-0ubuntu1_all.deb ...
  414.  Unpacking libkf5package-data (5.18.-0ubuntu1) ...
  415.  Selecting previously unselected package libkf5archive5:amd64.
  416.  Preparing to unpack .../libkf5archive5_5.18.0-0ubuntu1.1_amd64.deb ...
  417.  Unpacking libkf5archive5:amd64 (5.18.-0ubuntu1.) ...
  418.  Selecting previously unselected package libkf5package5:amd64.
  419.  Preparing to unpack .../libkf5package5_5.18.0-0ubuntu1_amd64.deb ...
  420.  Unpacking libkf5package5:amd64 (5.18.-0ubuntu1) ...
  421.  Selecting previously unselected package libkf5declarative5:amd64.
  422.  Preparing to unpack .../libkf5declarative5_5.18.0-0ubuntu1_amd64.deb ...
  423.  Unpacking libkf5declarative5:amd64 (5.18.-0ubuntu1) ...
  424.  Selecting previously unselected package qml-module-qtquick-privatewidgets:amd64.
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  427.  Selecting previously unselected package qml-module-qtquick-dialogs:amd64.
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  430.  Selecting previously unselected package libkf5globalaccel-data.
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  436.  Selecting previously unselected package qml-module-org-kde-kquickcontrols:amd64.
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  445.  Selecting previously unselected package libkf5activities5:amd64.
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  451.  Selecting previously unselected package libkf5notifications-data.
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  454.  Selecting previously unselected package libdbusmenu-qt5:amd64.
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  457.  Selecting previously unselected package libphonon4qt5-:amd64.
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  466.  Selecting previously unselected package libkf5attica5:amd64.
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  469.  Selecting previously unselected package libkf5textwidgets-data.
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  472.  Selecting previously unselected package libkf5sonnet5-data.
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  478.  Selecting previously unselected package libkf5sonnetui5:amd64.
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  481.  Selecting previously unselected package libkf5textwidgets5:amd64.
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  484.  Selecting previously unselected package libkf5xmlgui5:amd64.
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  487.  Selecting previously unselected package libkf5plasma5:amd64.
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  490.  Selecting previously unselected package libkf5plasmaquick5:amd64.
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  493.  Selecting previously unselected package libxcb-composite0:amd64.
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  496.  Selecting previously unselected package libxcb-damage0:amd64.
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  502.  Selecting previously unselected package qml-module-org-kde-activities:amd64.
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  505.  Selecting previously unselected package kactivities.
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  508.  Selecting previously unselected package kapptemplate.
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  511.  Selecting previously unselected package kate-data.
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  514.  Selecting previously unselected package libdlrestrictions1.
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  517.  Selecting previously unselected package libkdecore5.
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  520.  Selecting previously unselected package libattica0.:amd64.
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  523.  Selecting previously unselected package libdbusmenu-qt2:amd64.
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  526.  Selecting previously unselected package libkdeui5.
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  529.  Selecting previously unselected package libkcmutils4.
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  532.  Selecting previously unselected package libsolid4.
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  535.  Selecting previously unselected package libstreams0v5.
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  541.  Selecting previously unselected package libkio5.
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  544.  Selecting previously unselected package libknewstuff3-.
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  547.  Selecting previously unselected package libkparts4.
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  550.  Selecting previously unselected package libktexteditor4.
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  553.  Selecting previously unselected package libkatepartinterfaces4.
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  559.  Selecting previously unselected package breeze-icon-theme.
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  562.  Selecting previously unselected package kde-runtime-data.
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  565.  Selecting previously unselected package libkf5style5:amd64.
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  568.  Selecting previously unselected package kde-style-breeze.
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  574.  Selecting previously unselected package libkjsapi4.
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  577.  Selecting previously unselected package libkjsembed4.
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  580.  Selecting previously unselected package libkrosscore4.
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  583.  Selecting previously unselected package kdelibs-bin.
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  589.  Selecting previously unselected package kdoctools.
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  592.  Selecting previously unselected package libkpty4.
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  598.  Selecting previously unselected package libkdewebkit5.
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  601.  Selecting previously unselected package libkemoticons4.
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  604.  Selecting previously unselected package libkfile4.
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  607.  Selecting previously unselected package libphonon4:amd64.
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  613.  Selecting previously unselected package libkntlm4.
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  616.  Selecting previously unselected package libpolkit-qt--:amd64.
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  634.  Selecting previously unselected package libthreadweaver4.
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  637.  Selecting previously unselected package libplasma3.
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  640.  Selecting previously unselected package plasma-scriptengine-javascript.
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  643.  Selecting previously unselected package libkactivities6.
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  646.  Selecting previously unselected package libkdeclarative5.
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  649.  Selecting previously unselected package libkdesu5.
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  673.  Selecting previously unselected package phonon-backend-gstreamer-common:amd64.
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  679.  Selecting previously unselected package phonon:amd64.
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  682.  Selecting previously unselected package kde-runtime.
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  688.  Selecting previously unselected package libsublime8.
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  691.  Selecting previously unselected package libgrantlee-core0.
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kdevelop

2. Cartographer_ROS不同节点的入口main()函数

这里作一点更正，首先Cartographer_ROS是一个Package，包含多个node，所以程序入口main函数有很多个。比如还有offline_node_main.cc，通过查看不同的launch文件可以看看究竟有多少个node。

这里只是对其中的一个demo_packback_2d.launch中的节点进行了说明。

(1) 主程序入口(node_main.cc)

  1.  int main(int argc, char** argv) {
  2.    google::InitGoogleLogging(argv[]);
  3.    google::ParseCommandLineFlags(&argc, &argv, true);
  4.  
  5.    CHECK(!FLAGS_configuration_directory.empty())
  6.        << "-configuration_directory is missing.";
  7.    CHECK(!FLAGS_configuration_basename.empty())
  8.        << "-configuration_basename is missing.";
  9.  
  10.    ::ros::init(argc, argv, "cartographer_node");
  11.    ::ros::start();
  12.  
  13.    cartographer_ros::ScopedRosLogSink ros_log_sink;
  14.    cartographer_ros::Run();
  15.    ::ros::shutdown();
  16.  }

main

(2) cartographer_ros::Run()是全局函数。

　　注意该方法中的::ros::spin();进入ROS系统内部循环，消息的请求响应，各种处理开始。

  1.  void cartographer_ros::Run() {
  2.    constexpr double kTfBufferCacheTimeInSeconds = 1e6;
  3.    tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
  4.    tf2_ros::TransformListener tf(tf_buffer);
  5.    NodeOptions node_options;
  6.    TrajectoryOptions trajectory_options;
  7.    std::tie(node_options, trajectory_options) =LoadOptions(FLAGS_configuration_directory,LAGS_configuration_basename);
  8.  
  9.    Node node(node_options, &tf_buffer);
  10.    if (!FLAGS_map_filename.empty())
  11.   {
  12.      node.LoadMap(FLAGS_map_filename);
  13.    }
  14.  
  15.    if (FLAGS_start_trajectory_with_default_topics)
  16.   {
  17.      node.StartTrajectoryWithDefaultTopics(trajectory_options);
  18.    }
  19.  
  20.    ::ros::spin();
  21.  
  22.    node.FinishAllTrajectories();
  23.    node.RunFinalOptimization();
  24.  
  25.    if (!FLAGS_save_map_filename.empty())
  26.    {
  27.      node.SerializeState(FLAGS_save_map_filename);
  28.    }
  29.  }

cartographer_ros::Run()

(3)cartographer_ros::Run()方法中定义了Node node(node_options, &tf_buffer);

在cartographer_ros::Run()第15行-18行，执行了node.StartTrajectoryWithDefaultTopics(trajectory_options)方法。

  1.  Node::Node(const NodeOptions& node_options, tf2_ros::Buffer* const tf_buffer)
  2.      : node_options_(node_options),
  3.        map_builder_bridge_(node_options_, tf_buffer) {
  4.    carto::common::MutexLocker lock(&mutex_);
  5.    submap_list_publisher_ =
  6.        node_handle_.advertise<::cartographer_ros_msgs::SubmapList>(
  7.            kSubmapListTopic, kLatestOnlyPublisherQueueSize);
  8.    trajectory_node_list_publisher_ =
  9.        node_handle_.advertise<::visualization_msgs::MarkerArray>(
  10.            kTrajectoryNodeListTopic, kLatestOnlyPublisherQueueSize);
  11.    constraint_list_publisher_ =
  12.        node_handle_.advertise<::visualization_msgs::MarkerArray>(
  13.            kConstraintListTopic, kLatestOnlyPublisherQueueSize);
  14.    service_servers_.push_back(node_handle_.advertiseService(
  15.        kSubmapQueryServiceName, &Node::HandleSubmapQuery, this));
  16.    service_servers_.push_back(node_handle_.advertiseService(
  17.        kStartTrajectoryServiceName, &Node::HandleStartTrajectory, this));
  18.    service_servers_.push_back(node_handle_.advertiseService(
  19.        kFinishTrajectoryServiceName, &Node::HandleFinishTrajectory, this));
  20.    service_servers_.push_back(node_handle_.advertiseService(
  21.        kWriteStateServiceName, &Node::HandleWriteState, this));
  22.  
  23.    scan_matched_point_cloud_publisher_ =
  24.        node_handle_.advertise<sensor_msgs::PointCloud2>(
  25.            kScanMatchedPointCloudTopic, kLatestOnlyPublisherQueueSize);
  26.  
  27.    wall_timers_.push_back(node_handle_.createWallTimer(
  28.        ::ros::WallDuration(node_options_.submap_publish_period_sec),
  29.        &Node::PublishSubmapList, this));
  30.    wall_timers_.push_back(node_handle_.createWallTimer(
  31.        ::ros::WallDuration(node_options_.pose_publish_period_sec),
  32.        &Node::PublishTrajectoryStates, this));
  33.    wall_timers_.push_back(node_handle_.createWallTimer(
  34.        ::ros::WallDuration(node_options_.trajectory_publish_period_sec),
  35.        &Node::PublishTrajectoryNodeList, this));
  36.    wall_timers_.push_back(node_handle_.createWallTimer(
  37.        ::ros::WallDuration(kConstraintPublishPeriodSec),
  38.        &Node::PublishConstraintList, this));
  39.  }

Node构造函数

  1.  if (FLAGS_start_trajectory_with_default_topics)
  2. {
  3. 　　node.StartTrajectoryWithDefaultTopics(trajectory_options);
  4. }

　　Node::StartTrajectoryWithDefaultTopics函数如下：

  1. void Node::StartTrajectoryWithDefaultTopics(const TrajectoryOptions& options)
  2. {
  3.    carto::common::MutexLocker lock(&mutex_);
  4.    CHECK(ValidateTrajectoryOptions(options));
  5.    AddTrajectory(options, DefaultSensorTopics());//注意
  6. }

　　DefaultSensorTopics()函数如下：

  1. cartographer_ros_msgs::SensorTopics DefaultSensorTopics()
  2. {
  3.   cartographer_ros_msgs::SensorTopics topics;
  4.   topics.laser_scan_topic = kLaserScanTopic;
  5.   topics.multi_echo_laser_scan_topic = kMultiEchoLaserScanTopic;
  6.   topics.point_cloud2_topic = kPointCloud2Topic;
  7.   topics.imu_topic = kImuTopic;
  8.   topics.odometry_topic = kOdometryTopic;
  9.   return topics;
  10. }

(3.1)查看Node::AddTrajectory的代码，特别注意map_builder_bridge_.AddTrajectory(x,x)，需要重点阅读。

  1. int Node::AddTrajectory(const TrajectoryOptions& options, const cartographer_ros_msgs::SensorTopics& topics)
  2. {
  3.   const std::unordered_set<std::string> expected_sensor_ids = ComputeExpectedTopics(options, topics);
  4.   const int trajectory_id = map_builder_bridge_.AddTrajectory(expected_sensor_ids, options); //增加Trajectory
  5.   AddExtrapolator(trajectory_id, options);
  6.   AddSensorSamplers(trajectory_id, options);
  7.   LaunchSubscribers(options, topics, trajectory_id);//消息订阅，重要
  8.   is_active_trajectory_[trajectory_id] = true;
  9.   subscribed_topics_.insert(expected_sensor_ids.begin(), expected_sensor_ids.end());
  10.   return trajectory_id;
  11. }

其中的expected_sensor_ids 得到的是期望订阅主题的字符串列表。这里的AddExtrapolator方法暂且不表。

  1.  std::unordered_set<std::string> Node::ComputeExpectedTopics( const TrajectoryOptions& options,  const cartographer_ros_msgs::SensorTopics& topics)
  2.  {
  3.    std::unordered_set<std::string> expected_topics;
  4.    // Subscribe to all laser scan, multi echo laser scan, and point cloud topics.
  5.    for (const std::string& topic : ComputeRepeatedTopicNames(
  6.             topics.laser_scan_topic, options.num_laser_scans))
  7.       {
  8.             expected_topics.insert(topic);
  9.       }
  10.    for (const std::string& topic :
  11.         ComputeRepeatedTopicNames(topics.multi_echo_laser_scan_topic,
  12.                                   options.num_multi_echo_laser_scans))
  13.       {
  14.              expected_topics.insert(topic);
  15.        }
  16.    for (const std::string& topic : ComputeRepeatedTopicNames(
  17.             topics.point_cloud2_topic, options.num_point_clouds))
  18.       {
  19.              expected_topics.insert(topic);
  20.       }
  21.    // For 2D SLAM, subscribe to the IMU if we expect it. For 3D SLAM, the IMU is
  22.    // required.
  23.    if (node_options_.map_builder_options.use_trajectory_builder_3d() ||
  24.        (node_options_.map_builder_options.use_trajectory_builder_2d() &&
  25.         options.trajectory_builder_options.trajectory_builder_2d_options()
  26.             .use_imu_data()))
  27.    {
  28.              expected_topics.insert(topics.imu_topic);
  29.     }
  30.    // Odometry is optional.
  31.    if (options.use_odometry)
  32.    {
  33.          expected_topics.insert(topics.odometry_topic);
  34.     }
  35.     return expected_topics;
  36.  }

Node::ComputeExpectedTopics

(3.2) 消息订阅

  1.  void Node::LaunchSubscribers(const TrajectoryOptions& options,
  2.                               const cartographer_ros_msgs::SensorTopics& topics,
  3.                               const int trajectory_id) {
  4.    for (const std::string& topic : ComputeRepeatedTopicNames(
  5.             topics.laser_scan_topic, options.num_laser_scans)) {
  6.      subscribers_[trajectory_id].push_back(
  7.          {SubscribeWithHandler<sensor_msgs::LaserScan>(
  8.               &Node::HandleLaserScanMessage, trajectory_id, topic, &node_handle_,
  9.               this),
  10.           topic});
  11.    }
  12.    for (const std::string& topic :
  13.         ComputeRepeatedTopicNames(topics.multi_echo_laser_scan_topic,
  14.                                   options.num_multi_echo_laser_scans)) {
  15.      subscribers_[trajectory_id].push_back(
  16.          {SubscribeWithHandler<sensor_msgs::MultiEchoLaserScan>(
  17.               &Node::HandleMultiEchoLaserScanMessage, trajectory_id, topic,
  18.               &node_handle_, this),
  19.           topic});
  20.    }
  21.    for (const std::string& topic : ComputeRepeatedTopicNames(
  22.             topics.point_cloud2_topic, options.num_point_clouds)) {
  23.      subscribers_[trajectory_id].push_back(
  24.          {SubscribeWithHandler<sensor_msgs::PointCloud2>(
  25.               &Node::HandlePointCloud2Message, trajectory_id, topic,
  26.               &node_handle_, this),
  27.           topic});
  28.    }
  29.  
  30.    // For 2D SLAM, subscribe to the IMU if we expect it. For 3D SLAM, the IMU is
  31.    // required.
  32.    if (node_options_.map_builder_options.use_trajectory_builder_3d() ||
  33.        (node_options_.map_builder_options.use_trajectory_builder_2d() &&
  34.         options.trajectory_builder_options.trajectory_builder_2d_options()
  35.             .use_imu_data())) {
  36.      std::string topic = topics.imu_topic;
  37.      subscribers_[trajectory_id].push_back(
  38.          {SubscribeWithHandler<sensor_msgs::Imu>(&Node::HandleImuMessage,
  39.                                                  trajectory_id, topic,
  40.                                                  &node_handle_, this),
  41.           topic});
  42.    }
  43.  
  44.    if (options.use_odometry) {
  45.      std::string topic = topics.odometry_topic;
  46.      subscribers_[trajectory_id].push_back(
  47.          {SubscribeWithHandler<nav_msgs::Odometry>(&Node::HandleOdometryMessage,
  48.                                                    trajectory_id, topic,
  49.                                                    &node_handle_, this),
  50.           topic});
  51.    }
  52.  }

Node::LaunchSubscribers

(4) 回到步骤(2)，进行系统循环，订阅主题的消息处理开始。

阅读的代码是2017年12月27日GitHub下载的代码。

Cartographer中图优化存在2个部分：局部优化和全局优化

定义：扫描、子图

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