这个命令用于非ROS的包，所以Cartographer用的是它。 缺点是处理pacakge 较慢，只适用于ROS1. 可以和ninja结合
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| catkin_make_isolated --use-ninja --pkg cartographer_ros
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只编译一个包，会真的跳过其他包，比catkin_make --pkg好用多了。 编译生成的文件在/workspace/devel_isolated/cartographer_ros/lib/cartographer_ros
如果加上--install，编译得到的可执行文件在/workspace/devel_isolated/cartographer_ros/install/lib/cartographer_ros
它会在工作空间生成文件夹devel_isolated, install_isolated, build_isolated。
平时我们使用rosrun 运行的是 devel/lib 里的可执行文件，因为一般source的是 catkin_ws/devel/setup.zsh. 修改文件后，使用 catkin_make_isolated 编译，运行发现没有生效，需要先修改为 source catkin_ws/devel_isolated/setup.zsh, 以后就是用catkin_make_isolated
问题
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| Installing: /home/xiaoqiang/Documents/ros/install_isolated/share/cartographer_ros/launch
-- Installing: /home/xiaoqiang/Documents/ros/install_isolated/share/cartographer_ros/launch/software_institute.launch
-- Up-to-date: /home/xiaoqiang/Documents/ros/install_isolated/share/cartographer_ros/launch/\
CMake Error at cmake_install.cmake:142 (file):
file INSTALL cannot set permissions on
"/home/xiaoqiang/Documents/ros/install_isolated/share/cartographer_ros/launch/\"
FAILED: cd /home/xiaoqiang/Documents/ros/build_isolated/cartographer_ros && /usr/bin/cmake -P cmake_install.cmake
ninja: build stopped: subcommand failed.
<== Failed to process package 'cartographer_ros':
Command '['/home/xiaoqiang/Documents/ros/install_isolated/env.sh', 'ninja', 'install']' returned non-zero exit status 1
Reproduce this error by running:
==> cd /home/xiaoqiang/Documents/ros/build_isolated/cartographer_ros && /home/xiaoqiang/Documents/ros/install_isolated/env.sh ninja install
Command failed, exiting.
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不知为何出现了文件夹 install_isolated/share/cartographer_ros/launch/\，删除后重新编译还是如此
参考：
catkin_make_isolated 官方说明
catkin_make vs catkin_make_isolated
