.. Copyright 2016 The Cartographer Authors

.. Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

..      http://www.apache.org/licenses/LICENSE-2.0

.. Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.

.. Cartographer documentation master file, created by
   sphinx-quickstart on Fri Jul  8 10:41:33 2016.
   You can adapt this file completely to your liking, but it should at least
   contain the root `toctree` directive.

============
Cartographer
============

.. toctree::
   :maxdepth: 2
   :hidden:

`Cartographer`_ is a system that provides real-time simultaneous localization
and mapping `SLAM`_ across multiple platforms and sensor configurations. This
project provides Cartographer's ROS integration.

.. _Cartographer: http://www.github.com/googlecartographer/cartographer
.. _SLAM: http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping

Getting Started with ROS
========================

You will find complete documentation for using Cartographer with ROS at `our
Read the Docs site`_.

.. _our Read the Docs site: https://google-cartographer-ros.readthedocs.io

Getting Started without ROS
===========================

On Ubuntu 14.04 (Trusty):

  .. code-block:: bash

    # Install the required libraries that are available as debs
    sudo apt-get install \
      g++ \
      google-mock \
      libboost-all-dev \
      libgflags-dev \
      libgoogle-glog-dev \
      liblua5.2-dev \
      libprotobuf-dev \
      libsuitesparse-dev \
      libwebp-dev \
      ninja-build \
      protobuf-compiler \
      python-sphinx

    # Build and install Ceres
    git clone https://ceres-solver.googlesource.com/ceres-solver
    cd ceres-solver
    mkdir build && cd build
    cmake ..
    make
    sudo make install

    # Build Cartographer
    cd cartographer
    mkdir build && cd build
    cmake .. -G Ninja
    ninja