UAV ROS Cartographer

UAV ROS Cartographer build status

Introduction

This repository integrates Cartographer SLAM with the uav_ros_stack on Ardupilot or PX4 UAV platforms. In a simulation environment this packages is intended to be used with uav_ros_simulation.

This repository installs the following:

ROS Package	Description	18.04	20.04
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_ros	Provides ROS integration for Cartographer

Installation

Beginner

Follow these steps for a quick and easy start. This creates a Catkin Workspace called carto_ws in $HOME directory. It automatically installs all the dependencies and builds the UAV Cartographer system.

# Clone the repository anywhere you want
git clone https://github.com/larics/uav_ros_cartographer

# Start the installation script
cd uav_ros_cartographer/installation
./install_and_setup_workspace.s

# Build the Catkin workspace
cd ~/carto_ws
catkin build

Advanced

Follow these installation steps if you already have a Catkin workspace already set up.

# Navigate to src folder of the catkin workspace
cd /path/to/catkin_ws/src

# Install uav_ros_cartographer
git clone https://github.com/larics/uav_ros_cartographer
cd uav_ros_cartographer/installation
./install.sh

# Build catkin workspace
catkin build