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cartographer_ros/README.md

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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