中文資料稍後補充
introducing cartographer
by tully foote on october 5, 2016 10:11 am
from damon kohler, wolfgang hess, and holger rapp, google engineering
we are happy to announce the open source release of cartographer, a real-time slam library in 2d and 3d with ros support.
cartographer builds globally consistent maps in real-time across a broad range of sensor configurations common in academia and industry. the following video is a demonstration cartographer's real-time loop closure:
a detailed description of cartographer's 2d algorithms can be found in our icra 2016 paper.
thanks to ros integration and support from external contributors, cartographer is ready to use on several robot platforms with ros support:
toyota hsr
turtlebots
pr2
revo lds
at google, cartographer has enabled a range of applications from mapping museums and transit hubs to enabling new visualizations of famous buildings.
we recognize the value of high quality datasets to the research community. that's why, thanks to cooperation with the deutsches museum (the largest tech museum in the world), we are also releasing three years of lidar and imu data collected using our 2d and 3d mapping backpack platforms during the development and testing of cartographer.
our focus is on advancing and democratizing slam as a technology. currently, cartographer is heavily focused on lidar slam. through continued development and community contributions, we hope to add both support for more sensors and platforms as well as new features, such as lifelong mapping and localizing in a pre-existing map.
cartographer announcemet on the google open source blog
tri's demonstration on the hsr has a fun video
cartographer ros integration
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.
installation has been tested on ubuntu 14.04 (trusty) with ros indigo, but may also work on ubuntu 16.04 (xenial) with ros kinetic. we recommend using wstool and rosdep. for faster builds, we also recommend using ninja.
now that cartographer and cartographer's ros integration are installed, download the example bags (e.g. 2d and 3d backpack collections of the deutsches museum) to a known location, in this case <code>~/downloads</code>, and use <code>roslaunch</code> to bring up the demo:
the launch files will bring up <code>roscore</code> and <code>rviz</code> automatically.