Pose-graph SLAM with Open Karto as Front-end and SE-Sync as Backend
The optimization routine used is SE-Sync This package is currently tested with Ubuntu 16.04 LTS + ROS Kinetic
Use the given launch files. The build_map_w_params launch files uses a given param file, which you can edit to change the behavior of open_karto. Make sure to use the right scan topic. Also, the package will expect an odometry tf to be published to between odom frame and base_link (or base_footprint).
Download and install suitesparse: $sudo apt-get install libsuitesparse-dev
Download and put open karto in your catkin_ws/src from https://github.com/ros-perception/open_karto
Head on over to my blog post http://sauravag.com/2017/07/an-practical-introduction-to-pose-graph-slam/ where you can ask questions.