Moves the bulk of our documentation to Sphinx. (#11)
Damon Kohler
GitHub
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README.md
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README.md
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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 with ROS
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See https://github.com/googlecartographer/cartographer_ros
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## Installation without ROS
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On Ubuntu 14.04 (Trusty) or Ubuntu 16.04 (Xenial):
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# Install the required libraries that are available as debs
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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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# 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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@ -0,0 +1,55 @@
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.. Copyright 2016 The Cartographer Authors
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.. Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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.. http://www.apache.org/licenses/LICENSE-2.0
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.. Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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.. Cartographer documentation master file, created by
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sphinx-quickstart on Fri Jul 8 10:41:33 2016.
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You can adapt this file completely to your liking, but it should at least
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contain the root `toctree` directive.
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============
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Cartographer
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============
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|docs|
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Purpose
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=======
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`Cartographer`_ is a system that provides real-time simultaneous localization
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and mapping `SLAM`_ across multiple platforms and sensor configurations. This
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project provides Cartographer's ROS integration.
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.. _Cartographer: http://www.github.com/googlecartographer/cartographer
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.. _SLAM: http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
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Documentation
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=============
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You will find complete documentation for using Cartographer `our Read the Docs
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site`_.
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.. _our Read the Docs site: https://google-cartographer.readthedocs.io
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Contributing
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============
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You can find information about contributing to Cartographer at our `Contribution
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page`_.
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.. _Contribution page: https://github.com/googlecartographer/cartographer/blob/master/CONTRIBUTING.md
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.. |docs| image:: https://readthedocs.org/projects/google-cartographer/badge/?version=latest
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:alt: Documentation Status
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:scale: 100%
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:target: https://google-cartographer.readthedocs.io/en/latest/?badge=latest
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@ -17,19 +17,61 @@
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You can adapt this file completely to your liking, but it should at least
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You can adapt this file completely to your liking, but it should at least
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contain the root `toctree` directive.
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contain the root `toctree` directive.
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Welcome to Cartographer's documentation!
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============
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========================================
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Cartographer
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============
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Contents:
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.. toctree::
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.. toctree::
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:maxdepth: 2
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:maxdepth: 2
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:hidden:
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`Cartographer`_ is a system that provides real-time simultaneous localization
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and mapping `SLAM`_ across multiple platforms and sensor configurations. This
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project provides Cartographer's ROS integration.
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.. _Cartographer: http://www.github.com/googlecartographer/cartographer
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.. _SLAM: http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
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Indices and tables
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Getting Started with ROS
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==================
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========================
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* :ref:`genindex`
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You will find complete documentation for using Cartographer with ROS at `our
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* :ref:`modindex`
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Read the Docs site`_.
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* :ref:`search`
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.. _our Read the Docs site: https://google-cartographer-ros.readthedocs.io
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Getting Started without ROS
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===========================
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On Ubuntu 14.04 (Trusty):
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.. code-block:: bash
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# Install the required libraries that are available as debs
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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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# 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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