49 lines
1.1 KiB
Markdown
49 lines
1.1 KiB
Markdown
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# Cartographer Project Overview
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Cartographer is a system that provides real-time simultaneous localization and
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mapping
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([SLAM](http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping))
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across multiple platforms and sensor configurations.
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## Installation instructions
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For Ubuntu 14.04 (Trusty):
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sudo apt-get install \
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g++ \
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google-mock \
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libboost-all-dev \
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libgflags-dev \
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libgoogle-glog-dev \
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liblua5.2-dev \
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libprotobuf-dev \
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libsuitesparse-dev \
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libwebp-dev \
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ninja-build \
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protobuf-compiler \
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python-sphinx
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Download, build and install Ceres:
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git clone https://ceres-solver.googlesource.com/ceres-solver
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cd ceres-solver
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mkdir build && cd build
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cmake ..
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make
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sudo make install
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Build Cartographer:
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cd cartographer
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mkdir build && cd build
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cmake .. -G Ninja
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ninja
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## Running with Velodyne data
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apt-get install libpcap-dev
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cd <somwhere>
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git clone git@github.com:ros-drivers/velodyne.git
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cd <catkin_ws>/src
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ln -s <somewhere>/velodyne/velodyne* .
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