Compiling Cartographer ROS

System Requirements

The Cartographer ROS requirements are the same as the ones from Cartographer.

The following ROS distributions are currently supported:

  • Indigo
  • Kinetic
  • Lunar
  • Melodic

Building & Installation

In order to build Cartographer ROS, we recommend using wstool and rosdep. For faster builds, we also recommend using Ninja.

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

Create a new cartographer_ros workspace in ‘catkin_ws’.

mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src
wstool update -t src

Install cartographer_ros’ dependencies (proto3 and deb packages). The command ‘sudo rosdep init’ will print an error if you have already executed it since installing ROS. This error can be ignored.

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

Build and install.

catkin_make_isolated --install --use-ninja