Sources

Sources used while getting this up and running:

ROS

Cartographer

Cartographer install: https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html
Cartographer dependencies issue: https://github.com/cartographer-project/cartographer_ros/issues/1726 
Cartographer build issues: https://stackoverflow.com/questions/32801638/cmake-error-at-cmakelists-txt30-project-no-cmake-c-compiler-could-be-found

All the dependencies which were problematic during the build process:

# Install Boost Iostreams
sudo apt install libboost-iostreams-dev

# Install Ceres
sudo apt install libceres-dev

# Install Lua
sudo apt install liblua5.2-dev

# Install Protobuf
sudo apt install libprotobuf-dev protobuf-compiler

# Install Cairo
sudo apt install libcairo2-dev

# Install PCL Conversions
sudo apt install ros-noetic-pcl-conversions

# Install tf2_eigen
sudo apt install ros-noetic-tf2-eigen

# Install URDF
sudo apt install ros-noetic-urdf

# Install Google Mock (GMock)
sudo apt install libgmock-dev

# Install Google Test (if needed)
sudo apt install libgtest-dev
cd /usr/src/gtest
sudo cmake .
sudo make
sudo cp *.a /usr/lib

# Install RViz
sudo apt install ros-noetic-rviz

# Install roslint
sudo apt install ros-noetic-roslint

# Install PCL ROS
sudo apt install ros-noetic-pcl-ros