Cartographer
Purpose
Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
Getting started
- Learn to use Cartographer at our Read the Docs site.
- Please join the mailing list and ask questions.
Contributing
You can find information about contributing to Cartographer at our Contribution page.
Dependencies:
sudo apt-get install -y google-mock libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx ros-indigo-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev
Ceres-solver:
cd ~/catkin_ws
git clone https://github.com/hitcm/ceres-solver-1.11.0.git
mkdir -p ceres-solver-1.11.0/build
cd ceres-solver-1.11.0/build
cmake ..
make
sudo make install
Google Cartographer:
cd ~/catkin_ws
git clone https://github.com/hitcm/cartographer.git
mkdir -p cartographer/build
cd cartographer/build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install
Google Cartographer For ROS:
Rplidar For ROS:
cd ~/catkin_ws/src
https://github.com/robopeak/rplidar_ros
cd ~/catkin_ws
catkin_make