.. 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 ROS Integration
============================

`Cartographer`_ is a system that provides real-time simultaneous localization
and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor
configurations. This project provides Cartographer's ROS integration.

.. image:: demo_2d.gif

.. toctree::
   :maxdepth: 2

   compilation
   demos
   your_bag
   algo_walkthrough
   tuning
   assets_writer
   going_further
   getting_involved
   configuration
   ros_api
   data
   faq

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