Cartographer

Intro

Cartographer is an algorithm/system used to get a representation of the local environment given useful sensor data. For localization and mapping of the local environment, SLAM is main part.

Cartographer contains two SLAMs, one local SLAM and one global SLAM. The local SLAMs function is to generate approved submaps with correct scans(range data) and the global SLAM combines all submaps and creates a global map. The Global map can then be used to visually represent the environment.

ROS & Cartographer

We highly suggest

• Ubuntu 18.04 as operating system. NOT in Virutal Enviroment
• Preferably hardware greater than the essential requirements
• ROS Melodic full desktop version

Recommend to follow this guide Build and installation to get started.

Tuning

Here we described how we tuned Cartographer