diff --git a/docs/source/slam-nav/cartographer.md b/docs/source/slam-nav/cartographer.md
index 61e3120b7029085b2976193cb0c6c481b2c6a1c8..c1de4bec9be6a095399362203d3d1ff351930b7e 100644
--- a/docs/source/slam-nav/cartographer.md
+++ b/docs/source/slam-nav/cartographer.md
@@ -74,7 +74,74 @@ Installed:
 Complete!
 ```
 
-**结论**: 安装成功完成！
+## 从源码编译安装
+
+如果您需要最新功能或需要自定义修改，可以选择从源码编译。
+
+### 1. 安装依赖工具
+
+安装`colcon`：
+
+```bash
+pip3 install -U pytest colcon-common-extensions
+```
+
+安装后可能需要添加环境变量才能使用`colcon`命令
+
+```bash
+export PATH=$PATH:/home/openeuler/.local/bin
+```
+
+### 2. 创建工作空间
+
+```bash
+mkdir -p ~/cartographer_ws/src
+cd ~/cartographer_ws
+```
+
+### 3. 下载源码
+
+```bash
+cd ~/cartographer_ws/src
+git clone -b oe-fix https://gitee.com/codygua/cartographer.git
+git clone -b oe-fix https://gitee.com/codygua/cartographer_ros.git
+```
+
+### 4. 安装依赖
+
+安装一些 cartographer 相关依赖
+
+```bash
+sudo dnf update
+sudo dnf install boost-devel eigen3-devel abseil-cpp-devel cairo-devel ceres-solver-devel gflags-devel glog-devel lua-devel protobuf-devel git gmock-devel gtest-devel python3-sphinx cmake
+```
+
+### 5. 编译
+
+```bash
+cd ~/cartographer_ws
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+```
+
+如果编译过程中遇到内存不足的问题，可以限制并行编译任务数：
+```bash
+colcon build --symlink-install --parallel-workers 1 --cmake-args -DCMAKE_BUILD_TYPE=Release
+```
+
+### 6. 配置环境
+
+将工作空间添加到 `~/.bashrc`：
+
+```bash
+echo "source ~/cartographer_ws/install/setup.bash" >> ~/.bashrc
+source ~/.bashrc
+```
+
+或者仅在当前终端中加载：
+
+```bash
+source ~/cartographer_ws/install/setup.bash
+```
 
 ## 基本测试