cartographer

Description

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

video demo run in openeuler see: https://www.bilibili.com/video/BV1Rf4y1B73u

Software Architecture

Software architecture description

Cartographer can be seen as two separate, but related subsystems. The first one is local SLAM (sometimes also called frontend or local trajectory builder). Its job is to build a succession of submaps. Each submap is meant to be locally consistent but we accept that local SLAM drifts over time

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.

Installation

1. Dowload RPM

   wget http://121.36.3.168:82/home:/Chenjy9581/openEuler_21.03_standard_aarch64/aarch64/cartographer-2.0.0-1.oe1.aarch64.rpm
   

2. Install RPM

   sudo rpm -ivh cartographer-2.0.0-1.oe1.aarch64.rpm
   

Instructions

Exit the cartographer file under the /opt/ros/melodic/devel_isolated/ directory , Prove that the software installation is successful

Contribution

1. Fork the repository
2. Create Feat_xxx branch
3. Commit your code
4. Create Pull Request

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