kennedywai / cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

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