Cartographer Project Overview

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

Installation

Installation has been tested on Ubuntu 14.04 (Trusty) with ROS Indigo. There are multiple options for building cartographer_ros as part of a ROS workspace. Two common use cases are described below.

These dependencies always have to be 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

Standalone Workspace

# 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

Using wstool

If cartographer_ros is to be used as part of a pre-existing workspace/existing project, using wstool is recommended.

# Enter workspace root (i.e. the folder that has "src" as a subfolder)
# Merge the cartographer_ros rosinstall file
wstool merge https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall

# Update workspace
wstool update

# Build workspace contents. It is recommended to use catkin tools:
catkin build