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+Want to contribute? Great! Make sure you've checked all these boxes before creating your PR:
+
+- [ ] Keep your PR rebased to master.
+- [ ] Keep your PR under 200 lines of code and address a single concern.
+- [ ] Add unit test(s) and documentation (these do not count toward your 200 lines).
+- [ ] Adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html).
+- [ ] Run `clang-format -style=Google` on your code (this alone is not enough to ensure you've followed the style guide).
+- [ ] Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate.