118 lines
3.6 KiB
ReStructuredText
118 lines
3.6 KiB
ReStructuredText
.. 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
|
||
============
|
||
|
||
.. toctree::
|
||
:maxdepth: 2
|
||
:hidden:
|
||
|
||
configuration
|
||
evaluation
|
||
terminology
|
||
cost_functions
|
||
pbstream_migration
|
||
|
||
`Cartographer`_ is a system that provides real-time simultaneous localization
|
||
and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor
|
||
configurations.
|
||
|
||
.. _Cartographer: https://github.com/cartographer-project/cartographer
|
||
.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
|
||
|
||
Technical Overview
|
||
==================
|
||
* High level system overview of Cartographer
|
||
|
||
.. image:: high_level_system_overview.png
|
||
:target: https://github.com/cartographer-project/cartographer/blob/master/docs/source/high_level_system_overview.png
|
||
|
||
.. To make modifications, edit the original Google Sketch and export a png.
|
||
.. https://docs.google.com/drawings/d/1kCJ_dEbSvV83THCUfMikCPw7xFrTkrvRw5r6Ji8C90c/edit?usp=sharing
|
||
|
||
Getting started
|
||
===============
|
||
|
||
Cartographer is a standalone C++ library. To get started quickly, use our `ROS
|
||
<http://www.ros.org>`_ integration.
|
||
|
||
Getting started with ROS
|
||
------------------------
|
||
|
||
ROS integration is provided by the `Cartographer ROS repository`_. You will find
|
||
complete documentation for using Cartographer with ROS at the
|
||
`Cartographer ROS Read the Docs site`_.
|
||
|
||
.. _Cartographer ROS repository: https://github.com/cartographer-project/cartographer_ros
|
||
.. _Cartographer ROS Read the Docs site: https://google-cartographer-ros.readthedocs.io
|
||
|
||
Getting started without ROS
|
||
---------------------------
|
||
|
||
Please see our ROS integration as a starting point for integrating your system
|
||
with the standalone library. Currently, it is the best available reference.
|
||
|
||
On Ubuntu 14.04 (Trusty):
|
||
|
||
.. literalinclude:: ../../scripts/install_debs_cmake.sh
|
||
:language: bash
|
||
:lines: 20-
|
||
|
||
.. literalinclude:: ../../scripts/install_ceres.sh
|
||
:language: bash
|
||
:lines: 20-
|
||
|
||
.. literalinclude:: ../../scripts/install_proto3.sh
|
||
:language: bash
|
||
:lines: 20-
|
||
|
||
.. literalinclude:: ../../scripts/install_cartographer_cmake.sh
|
||
:language: bash
|
||
:lines: 20-
|
||
|
||
.. _system-requirements:
|
||
|
||
System Requirements
|
||
===================
|
||
|
||
Although Cartographer may run on other systems, it is confirmed to be working
|
||
on systems that meet the following requirements:
|
||
|
||
* 64-bit, modern CPU (e.g. 3rd generation i7)
|
||
* 16 GB RAM
|
||
* Ubuntu 14.04 (Trusty), 16.04 (Xenial), 18.04 (Bionic)
|
||
* gcc version 4.8.4, 5.4.0, 7.5.0
|
||
|
||
Known Issues
|
||
------------
|
||
|
||
* 32-bit builds have libeigen alignment problems which cause crashes and/or
|
||
memory corruptions.
|
||
|
||
How to cite us
|
||
==============
|
||
|
||
Background about the algorithms developed for Cartographer can be found in the
|
||
following publication. If you use Cartographer for your research, we would
|
||
appreciate it if you cite our paper.
|
||
|
||
W. Hess, D. Kohler, H. Rapp, and D. Andor,
|
||
`Real-Time Loop Closure in 2D LIDAR SLAM`_, in
|
||
*Robotics and Automation (ICRA), 2016 IEEE International Conference on*.
|
||
IEEE, 2016. pp. 1271–1278.
|
||
|
||
.. _Real-Time Loop Closure in 2D LIDAR SLAM: https://research.google.com/pubs/pub45466.html
|