Occupancy grid node is missing

[routiful]

I have developed cartographer example with TB3. But the master branch did not include the occupancy_grid_node. How can I get a /map topic to use this?

[clalancette]

When I did the initial port here, it was on an earlier version of cartographer that didn't need the separate occupancy_grid node. Since then, we've updated to a newer version of cartographer, but did not have time to update the code (we had to do this to get cartographer building on Ubuntu Bionic). If you'd like to contribute and do the port, that would be great; it is unlikely I'll have time to look into this anytime soon.

[routiful]

Okay, I will update the code soon. Thanks

[routiful]

I fetched the cartographer and cartographer_ros into release-1.0 branch and update ros2 api.
But i got stuck some problems. I opened issues in cartographer_ros repo.

googlecartographer#1151

Do you have any comments? @clalancette

The code was uploaded in ROBOTIS-GIT

https://github.com/ROBOTIS-GIT/cartographer
https://github.com/ROBOTIS-GIT/cartographer_ros

[clalancette]

The short answer is that we have not kept cartographer up-to-date with ROS 2 crystal. The last version we know for sure this port worked on is ROS 2 Ardent, and we haven't done updates on it since then. Probably the correct thing to do here is work with the upstream https://github.com/googlecartographer/cartographer_ros to do a maintained ROS 2 port of cartographer in a separate branch on that repo, using some of the work we did here as a reference.

[routiful]

@clalancette I've tested cartographer and cartographer_ros packages in ROS2 Crystal.
I opened PR(#25).
Please review this code and following tutorials.