Cartographer ROS for Mobile Industrial Robots Platforms

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. This repository provides Cartographer SLAM for Mobile Industrial Robots platforms via Cartographer ROS.

Building & Installation

Installation has been tested on Ubuntu 14.04 (Trusty) with ROS Indigo, but may also work on Ubuntu 16.04 (Xenial) with ROS Kinetic. We recommend using wstool and rosdep. For faster builds, we also recommend using Ninja.

# Install wstool and rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

# Create a new workspace in 'catkin_ws'.
mkdir catkin_ws
cd catkin_ws
wstool init src

# Merge the cartographer_mir.rosinstall file and mir code for dependencies.
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_mir/master/cartographer_mir.rosinstall
wstool update -t src

# Install deb dependencies.
# The command 'sudo rosdep init' will print an error if you have already
# executed it since installing ROS. This error can be ignored.
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r --rosdistro=${ROS_DISTRO} -y

# Build and install.
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash