sampleCarto is a simplified version of the cartograher(https://github.com/googlecartographer), it is used for studying LiDAR-SLAM.
(Much easier to understand than cartographer.^_^)
The sampleCarto takes in a laser scans and wheel odometry, and outputs map.
I have prepared a bag file (h1.bag), you can do some simple test.
mkdir build
cd build
cmake ..
make
./sampleCarto path_to_your_bag_file
./rviz add the visualization for map topic and node_list topic.
If your robot center is different from laser center, Please modify the following parameters in test.lua.
<test.lua>
baselink_to_laser_x = 0
baselink_to_laser_y = 0
baselink_to_laser_theta = 0