.. Copyright 2016 The Cartographer Authors
.. Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at
.. http://www.apache.org/licenses/LICENSE-2.0
.. Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
|build| |docs| |license|
Cartographer_ is a system that provides real-time simultaneous localization
and mapping (SLAM_) in 2D and 3D across multiple platforms and sensor
configurations. This project provides Cartographer's ROS integration.
.. _Cartographer: https://github.com/googlecartographer/cartographer .. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
This is a modified version of cartographer that allows querying/extracting 3D submaps as a service.
- Learn to use Cartographer with ROS at
our Read the Docs site_. - You can ask a question by
creating an issue_.
.. _our Read the Docs site: https://google-cartographer-ros.readthedocs.io .. _creating an issue: https://github.com/googlecartographer/cartographer_ros/issues/new?labels=question
The installation is similar to cartographer ROS installation process. The RadNuke repository so that the packages will be in the same repository.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/jeshlee121/cartographer_ros/blob/master/cartographer_ros.rosinstall
wstool update -t src
src/cartographer/scripts/install_proto3.sh
sudo rosdep init
rosdep update
catkin_make_isolated --install --use-ninja
You can find information about contributing to Cartographer's ROS integration
at our Contribution page_.
.. _our Contribution page: https://github.com/googlecartographer/cartographer_ros/blob/master/CONTRIBUTING.md
.. |build| image:: https://travis-ci.org/googlecartographer/cartographer_ros.svg?branch=master :alt: Build Status :scale: 100% :target: https://travis-ci.org/googlecartographer/cartographer_ros .. |docs| image:: https://readthedocs.org/projects/google-cartographer-ros/badge/?version=latest :alt: Documentation Status :scale: 100% :target: https://google-cartographer-ros.readthedocs.io/en/latest/?badge=latest .. |license| image:: https://img.shields.io/badge/License-Apache%202.0-blue.svg :alt: Apache 2 license. :scale: 100% :target: https://github.com/googlecartographer/cartographer_ros/blob/master/LICENSE
