Depreciation notice

This code won't be maintained, and likely will not work anymore. I'm leaving this on GitHub in case anyone still finds value in it.

YDLIDAR X2 - Cartographer project

This project was used to create a demonstrator of using YDLIDAR X2 with Google Cartographer as described in this blog post.

Quickstart (Melodic only)

1. Clone the repo as your src directory git clone git@github.com:msadowski/x2_cartographer.git
2. Initialize and update submodules git submodule update --init
3. Perform the setup described in ydlidar/README.md
4. If you don't have cartographer installed run rosdep install --from-paths src --ignore-src --rosdistro melodic -r -y from your workspace
5. Source your workspace source devel/setup.bash
6. Start everything: roslaunch carto_mapper mapper.launch

The files in this repository are provided as is. No support is guaranteed but if you find ways to improve it feel free to open a pull request.