Getting Started

Since this package only provides the configurations and launch files, the building and installation are very similar to the Cartographer ROS package.

Prerequisites

With a ROS noetic installation, install the following packages:

sudo apt install git python3-wstool python3-rosdep ninja-build ros-noetic-cnpy

Building

Create the workspace and clone the repo:

mkdir catkin_ws
cd catkin_ws

source /opt/ros/noetic/setup.bash
wstool init src
wstool merge -t src https://raw.githubusercontent.com/tum-gis/cartographer_audi_a2d2/master/cartographer_audi_a2d2.rosinstall
wstool update -t src

Install the package dependencies and run catkin for compiling:

sudo rosdep init
rosdep update

# if on Linux Mint 20, add the argument: --os=ubuntu:focal
rosdep install --from-paths src --ignore-src -r --rosdistro=${ROS_DISTRO} -y
# needed for Cartographer
src/cartographer/scripts/install_abseil.sh
catkin_make_isolated --install --use-ninja

In case you want to use CLion as IDE, run:

source ./devel_isolated/setup.bash
clion ./ &