cartographer

This is fork of https://github.com/cartographer-project/cartographer

Installment

Make sure your CMAKE>3.6.0 To upgrade cmake

version=3.x
build=3
mkdir ~/temp
cd ~/temp
wget https://cmake.org/files/v$version/cmake-$version.$build.tar.gz
tar -xzvf cmake-$version.$build.tar.gz
cd cmake-$version.$build/
./bootstrap
make -j4
sudo make install
cmake --version

To install cartographer

git clone https://github.com/unmannedlab/cartographer.git
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build stow
cd cartographer
src/cartographer/scripts/install_proto3.sh
sudo apt-get install libsuitesparse-dev
catkin_make_isolated --install --use-ninja

Usage:

To perforam on-line slam:

run script

cart_config/run_3d_ouster

To perforam off-line slam:

run script

cart_config/run_3d_offline_ouster

visualize results:

cart_config/run_vis

generate map image and point cloud:

cart_config/run_ass

More configuration

Please refer to: https://google-cartographer-ros.readthedocs.io/en/latest/configuration.html