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

Cartographer 3D SLAM Demo

A Note for ROS Users

Cartographer is no longer actively maintained. On rare occasions critical pull requests may be merged, but no new development is currently taking place, including issue response. If you are installing Cartographer in ROS 1 / ROS 2 using a binary package that package is a fork of this repository. The ROS fork of Cartographer is only maintained in a limited capacity. No new development takes place on this fork, but pull requests may be merged at the maintainers' discretion.

The ROS fork of Cartographer, and the ROS wrapper library, can be found at these locations:

Additional discussion can be found in this ROS Discourse thread.

Getting started


You can find information about contributing to Cartographer at our Contribution page.

Open house slide archive

In the past there had been regular open-for-all meetings to discuss progress and plans for Cartographer. Slides of these Cartographer Open House meetings are listed below.