.. 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

.. toctree:: :maxdepth: 2 :hidden:

configuration evaluation terminology cost_functions pbstream_migration

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

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

Technical Overview

High level system overview of Cartographer

.. image:: high_level_system_overview.png :target: https://github.com/cartographer-project/cartographer/blob/master/docs/source/high_level_system_overview.png

.. To make modifications, edit the original Google Sketch and export a png. .. https://docs.google.com/drawings/d/1kCJ_dEbSvV83THCUfMikCPw7xFrTkrvRw5r6Ji8C90c/edit?usp=sharing

Getting started

Cartographer is a standalone C++ library. To get started quickly, use our ROS <http://www.ros.org>_ integration.

Getting started with ROS

ROS integration is provided by the Cartographer ROS repository. You will find complete documentation for using Cartographer with ROS at the Cartographer ROS Read the Docs site.

.. _Cartographer ROS repository: https://github.com/cartographer-project/cartographer_ros .. _Cartographer ROS Read the Docs site: https://google-cartographer-ros.readthedocs.io

Getting started without ROS

Please see our ROS integration as a starting point for integrating your system with the standalone library. Currently, it is the best available reference.

On Ubuntu 18.04 (Bionic):

.. literalinclude:: ../../scripts/install_debs_cmake.sh :language: bash :lines: 20-

.. literalinclude:: ../../scripts/install_abseil.sh :language: bash :lines: 20-

.. literalinclude:: ../../scripts/install_proto3.sh :language: bash :lines: 20-

.. literalinclude:: ../../scripts/install_cartographer_cmake.sh :language: bash :lines: 20-

.. _system-requirements:

System Requirements

Although Cartographer may run on other systems, it is confirmed to be working on systems that meet the following requirements:

64-bit, modern CPU (e.g. 3rd generation i7)
16 GB RAM
Ubuntu 18.04 (Bionic), 20.04 (Focal), 22.04 (Jammy)
gcc version 7.5.0, 8.3.0, 9.3.0, 10.2.1, 11.2.0

Known Issues

32-bit builds have libeigen alignment problems which cause crashes and/or memory corruptions.

How to cite us

Background about the algorithms developed for Cartographer can be found in the following publication. If you use Cartographer for your research, we would appreciate it if you cite our paper.

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.

.. _Real-Time Loop Closure in 2D LIDAR SLAM: https://research.google.com/pubs/pub45466.html