cartographer-project / cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
Apache License 2.0
7.03k stars 2.24k forks source link
localization mapping robotics self-driving slam

.. Copyright 2016 The Cartographer Authors

.. Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

.. http://www.apache.org/licenses/LICENSE-2.0

.. Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

============ Cartographer

|build-jammy| |build-focal| |build-bionic| |build-bullseye| |build-buster| |docs| |license|

Purpose

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

|video|

.. _Cartographer: https://github.com/cartographer-project/cartographer .. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping

A Note for ROS Users

Cartographer is no longer actively maintained. On rare occasions critical pull requests may be merged, but no new development is currently taking place, including issue response. If you are installing Cartographer in ROS 1 / ROS 2 using a binary package that package is a fork of this repository. The ROS fork of Cartographer is only maintained in a limited capacity. No new development takes place on this fork, but pull requests may be merged at the maintainers' discretion.

The ROS fork of Cartographer, and the ROS wrapper library, can be found at these locations:

Additional discussion can be found in this ROS Discourse thread<https://discourse.ros.org/t/rolling-and-soon-humble-release-of-both-cartographer-and-cartographer-ros-v2-and-call-for-testing/25137>_.

Getting started

.. _our Read the Docs site: https://google-cartographer.readthedocs.io .. _creating an issue: https://github.com/cartographer-project/cartographer_ros/issues/new?labels=question

Contributing

You can find information about contributing to Cartographer at our Contribution page_.

.. _our Contribution page: https://github.com/cartographer-project/cartographer/blob/master/CONTRIBUTING.md

Open house slide archive

In the past there had been regular open-for-all meetings to discuss progress and plans for Cartographer. Slides of these Cartographer Open House meetings are listed below.

.. |build-jammy| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-jammy.yaml/badge.svg :alt: Ubuntu 22.04 Build Status :scale: 100% :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-jammy.yaml .. |build-focal| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-focal.yaml/badge.svg :alt: Ubuntu 20.04 Build Status :scale: 100% :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-focal.yaml .. |build-bionic| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-bionic.yaml/badge.svg :alt: Ubuntu 18.04 Build Status :scale: 100% :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-bionic.yaml .. |build-bullseye| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-bullseye.yaml/badge.svg :alt: Debian Bullseye Build Status :scale: 100% :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-bullseye.yaml .. |build-buster| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-buster.yaml/badge.svg :alt: Debian Buster Build Status :scale: 100% :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-buster.yaml .. |docs| image:: https://readthedocs.org/projects/google-cartographer/badge/?version=latest :alt: Documentation Status :scale: 100% :target: https://google-cartographer.readthedocs.io/en/latest/?badge=latest .. |license| image:: https://img.shields.io/badge/License-Apache%202.0-blue.svg :alt: Apache 2 license. :scale: 100% :target: https://github.com/cartographer-project/cartographer/blob/master/LICENSE .. |video| image:: https://j.gifs.com/wp3BJM.gif :alt: Cartographer 3D SLAM Demo :scale: 100% :target: https://youtu.be/DM0dpHLhtX0