Go to file

Wolfgang Hess 558768f4e3 Fixes pose publishing to include/exclude odom frame. (#3 ) Changes the pose publishing to always publish the odom to map transform. Either expects or provides (configurable) the odom to tracking transform. Also cleans up the RViz plugin code a bit.		2016-08-03 16:56:20 +02:00
cartographer_ros	Fixes pose publishing to include/exclude odom frame. (#3 )	2016-08-03 16:56:20 +02:00
cartographer_ros_msgs	Renames google_cartographer* to cartographer_ros*.	2016-08-03 12:57:56 +02:00
AUTHORS	Initial import of Cartographer codebase.	2016-08-03 12:45:08 +02:00
CONTRIBUTING.md	Initial import of Cartographer codebase.	2016-08-03 12:45:08 +02:00
LICENSE	Initial import of Cartographer codebase.	2016-08-03 12:45:08 +02:00
README.md	Changes build instructions to use Catkin. (#2 )	2016-08-03 16:31:24 +02:00

README.md

Cartographer Project Overview

See https://github.com/googlecartographer/cartographer

Installation

On Ubuntu 14.04 (Trusty) with ROS Indigo installed:

# Install the required libraries that are available as debs
sudo apt-get install \
  ros-indigo-tf2-eigen \
  g++ \
  google-mock \
  libboost-all-dev \
  liblua5.2-dev \
  libprotobuf-dev \
  libwebp-dev \
  protobuf-compiler \
  python-sphinx \
  libblas-dev \
  liblapack-dev \
  libpcap-dev  # For 3D SLAM with Velodynes

# Set up your Catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
source /opt/ros/indigo/setup.bash
catkin_init_workspace

# Clone the necessary repos into your Catkin workspace
git clone https://github.com/googlecartographer/cartographer.git
git clone https://github.com/googlecartographer/cartographer_ros.git
git clone https://github.com/ethz-asl/ceres_catkin.git
git clone https://github.com/ethz-asl/suitesparse.git
git clone https://github.com/ethz-asl/glog_catkin.git
git clone https://github.com/ethz-asl/gflags_catkin.git
git clone https://github.com/ethz-asl/catkin_simple.git
git clone https://github.com/ros-drivers/velodyne.git  # For 3D SLAM with Velodynes

# Build everything in your Catkin workspace
cd ~/catkin_ws
catkin_make_isolated
source devel_isolated/setup.bash