cartographer_2d_demo

Use google cartographer 2D SLAM without ROS.
在非ROS环境下使用cartographer进行2D激光SLAM的测试。

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Replay files containing imu and radar datas will be uploaded soon...
之后会上传包含传感器数据的回放文件...

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Build

Install cartographer libary

Compile and install abseil, ceres-solver, proto-buf and cartographer followed the document below:
根据cartographer官方文档编译安装Cartographer及其依赖库：
Cartographer Document

Build

Enter directory cartographer_2d_demo

mkdir build
cd build
cmake ..
make

Run

After building, excutable file map_test will be generated.
Run this project by:

./map_test ../configuration_files mapping_imu.lua ../data/imu_radar_replay ./map_output