122 lines
3.6 KiB
ReStructuredText
122 lines
3.6 KiB
ReStructuredText
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.. Copyright 2016 The Cartographer Authors
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.. Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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.. http://www.apache.org/licenses/LICENSE-2.0
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.. Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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============
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Cartographer
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============
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.. toctree::
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:maxdepth: 2
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:hidden:
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configuration
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evaluation
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terminology
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cost_functions
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pbstream_migration
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`Cartographer`_ is a system that provides real-time simultaneous localization
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and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor
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configurations.
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.. _Cartographer: https://github.com/cartographer-project/cartographer
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.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
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Technical Overview
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==================
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* High level system overview of Cartographer
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.. image:: high_level_system_overview.png
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:target: https://github.com/cartographer-project/cartographer/blob/master/docs/source/high_level_system_overview.png
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.. To make modifications, edit the original Google Sketch and export a png.
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.. https://docs.google.com/drawings/d/1kCJ_dEbSvV83THCUfMikCPw7xFrTkrvRw5r6Ji8C90c/edit?usp=sharing
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Getting started
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===============
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Cartographer is a standalone C++ library. To get started quickly, use our `ROS
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<http://www.ros.org>`_ integration.
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Getting started with ROS
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------------------------
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ROS integration is provided by the `Cartographer ROS repository`_. You will find
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complete documentation for using Cartographer with ROS at the
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`Cartographer ROS Read the Docs site`_.
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.. _Cartographer ROS repository: https://github.com/cartographer-project/cartographer_ros
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.. _Cartographer ROS Read the Docs site: https://google-cartographer-ros.readthedocs.io
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Getting started without ROS
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---------------------------
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Please see our ROS integration as a starting point for integrating your system
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with the standalone library. Currently, it is the best available reference.
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On Ubuntu 18.04 (Bionic):
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.. literalinclude:: ../../scripts/install_debs_cmake.sh
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:language: bash
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:lines: 20-
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.. literalinclude:: ../../scripts/install_abseil.sh
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:language: bash
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:lines: 20-
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.. literalinclude:: ../../scripts/install_ceres.sh
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:language: bash
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:lines: 20-
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.. literalinclude:: ../../scripts/install_proto3.sh
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:language: bash
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:lines: 20-
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.. literalinclude:: ../../scripts/install_cartographer_cmake.sh
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:language: bash
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:lines: 20-
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.. _system-requirements:
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System Requirements
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===================
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Although Cartographer may run on other systems, it is confirmed to be working
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on systems that meet the following requirements:
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* 64-bit, modern CPU (e.g. 3rd generation i7)
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* 16 GB RAM
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* Ubuntu 18.04 (Bionic), 20.04 (Focal)
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* gcc version 6.3.0, 7.5.0, 9.3.0
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Known Issues
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------------
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* 32-bit builds have libeigen alignment problems which cause crashes and/or
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memory corruptions.
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How to cite us
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==============
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Background about the algorithms developed for Cartographer can be found in the
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following publication. If you use Cartographer for your research, we would
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appreciate it if you cite our paper.
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W. Hess, D. Kohler, H. Rapp, and D. Andor,
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`Real-Time Loop Closure in 2D LIDAR SLAM`_, in
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*Robotics and Automation (ICRA), 2016 IEEE International Conference on*.
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IEEE, 2016. pp. 1271–1278.
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.. _Real-Time Loop Closure in 2D LIDAR SLAM: https://research.google.com/pubs/pub45466.html
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