135 lines
8.3 KiB
ReStructuredText
135 lines
8.3 KiB
ReStructuredText
.. 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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============
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Cartographer
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============
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|build-jammy| |build-focal| |build-bionic| |build-bullseye| |build-buster| |docs| |license|
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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`_) in 2D and 3D across multiple platforms and sensor
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configurations.
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|video|
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.. _Cartographer: https://github.com/cartographer-project/cartographer
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.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
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A Note for ROS Users
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====================
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**Cartographer is no longer actively maintained.**
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On rare occasions critical pull requests may be merged, but no new development is currently taking place, including issue response.
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If you are installing Cartographer in ROS 1 / ROS 2 using a binary package that package is a fork of this repository.
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The ROS fork of Cartographer is only maintained in a limited capacity.
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No new development takes place on this fork, but pull requests may be merged at the maintainers' discretion.
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The ROS fork of Cartographer, and the ROS wrapper library, can be found at these locations:
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- `Cartographer Fork <https://github.com/ros2/cartographer>`_
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- `Cartographer ROS <https://github.com/ros2/cartographer_ros>`_
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Additional discussion can be found in `this ROS Discourse thread<https://discourse.ros.org/t/rolling-and-soon-humble-release-of-both-cartographer-and-cartographer-ros-v2-and-call-for-testing/25137>`_.
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Getting started
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===============
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* Learn to use Cartographer at `our Read the Docs site`_.
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* You can ask a question by `creating an issue`_.
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.. _our Read the Docs site: https://google-cartographer.readthedocs.io
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.. _creating an issue: https://github.com/cartographer-project/cartographer_ros/issues/new?labels=question
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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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.. _our Contribution page: https://github.com/cartographer-project/cartographer/blob/master/CONTRIBUTING.md
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Open house slide archive
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========================
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In the past there had been regular open-for-all meetings to discuss progress and plans for Cartographer.
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Slides of these Cartographer Open House meetings are listed below.
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- March 14, 2019: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/190314/slides.pdf>`_
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- February 21, 2019: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/190221/slides.pdf>`_
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- January 17, 2019: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/190117/slides.pdf>`_
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- November 22, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/181122/slides.pdf>`_
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- October 25, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/181025/slides.pdf>`_
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- September 13, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180913/slides.pdf>`_
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- August 16, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180816/slides.pdf>`_
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- August 2, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180802/slides.pdf>`_
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- July 5, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180705/slides.pdf>`_
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- June 21, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180621/slides.pdf>`_
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- June 7, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180607/slides.pdf>`_
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- May 24, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180524/slides.pdf>`_
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- May 3, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180503/slides.pdf>`_
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- March 29, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180329/slides.pdf>`_
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- February 22, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180222/slides.pdf>`_
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- February 8, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180208/slides.pdf>`_
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- January 18, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180125/slides.pdf>`_
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- January 11, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180111/slides.pdf>`_
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- December 7, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/171207/slides.pdf>`_
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- November 23, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/171123/slides.pdf>`_
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- November 9, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/171109/slides.pdf>`_
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- October 26, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/171026/slides.pdf>`_
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- October 12, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/171012/slides.pdf>`_
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- September 14, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170914/slides.pdf>`_
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- August 17, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170817/slides.pdf>`_
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- July 20, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170720/slides.pdf>`_
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- July 6, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170706/slides.pdf>`_
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- June 22, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170622/sildes.pdf>`_
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- June 8, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170608/slides.pdf>`_
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.. |build-jammy| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-jammy.yaml/badge.svg
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:alt: Ubuntu 22.04 Build Status
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:scale: 100%
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:target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-jammy.yaml
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.. |build-focal| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-focal.yaml/badge.svg
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:alt: Ubuntu 20.04 Build Status
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:scale: 100%
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:target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-focal.yaml
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.. |build-bionic| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-bionic.yaml/badge.svg
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:alt: Ubuntu 18.04 Build Status
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:scale: 100%
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:target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-bionic.yaml
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.. |build-bullseye| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-bullseye.yaml/badge.svg
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:alt: Debian Bullseye Build Status
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:scale: 100%
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:target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-bullseye.yaml
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.. |build-buster| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-buster.yaml/badge.svg
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:alt: Debian Buster Build Status
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:scale: 100%
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:target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-buster.yaml
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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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.. |license| image:: https://img.shields.io/badge/License-Apache%202.0-blue.svg
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:alt: Apache 2 license.
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:scale: 100%
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:target: https://github.com/cartographer-project/cartographer/blob/master/LICENSE
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.. |video| image:: https://j.gifs.com/wp3BJM.gif
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:alt: Cartographer 3D SLAM Demo
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:scale: 100%
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:target: https://youtu.be/DM0dpHLhtX0
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