README_open_robot.rst

Cartographer ROS for open-robot

Purpose

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. This project provides Cartographer's ROS integration for open-robot.

Building & Installation

We recommend using wstool and rosdep. For faster builds, we also recommend using Ninja.

# Install wstool and rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

# Create a new workspace in 'catkin_ws'.
mkdir catkin_ws
cd catkin_ws
wstool init src

# Clone cartographer_ros
cd src
git clone https://github.com/open-robot/cartographer_ros.git

# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
cd ../
wstool merge -t src ./src/cartographer_ros/cartographer_ros.rosinstall
wstool update -t src

# Install deb dependencies.
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# Build and install.
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

How to run

# Start open-robot
roslaunch robot_bringup demo_start.launch

# Start Cartographer_ros
roslaunch cartographer_ros demo_open_robot.launch

# Start rviz in a remote computer to watch the building map
About how to run ROS across multiple machines: http://wiki.ros.org/ROS/Tutorials/MultipleMachines