Example for running cartographer without ROS

[Samuel Malinen]

Does anybody have a reference how to use cartographer without ROS? Grateful for any reference.

[Yalcin]

I am also interested. +1

[Holger Rapp]

Cartographer is a c++ library that provides you SLAM. ROS is not required. That said, if you want data visualization or serialization, ROS is an easy way to get started.

Cartographer lives in https://github.com/googlecartographer/cartographer/ and can be build and used independently. Inside Google we mostly use the stand alone library as is and have different visualization and data sources wired up to it. Usually each project brings their own 'Bridges' to make use of Cartographer. Unfortunately this library has no well defined public API (something we'd like to fix till EOY), but the most useful entry point is the MapBuilder - essentially you provide it with a configuration, add trajectories to it and feed them data in the tracking frame. Then you can query it for pose and submaps.

As for wiring it up, the ROS Node is still the best thing to look at. All it does is getting data from ROS, transforming it into tracking frame and feeding it to the trajectory builder (example for lasers). It also does what your visualization needs to do: it informs ROS about the list of currently available submaps and handles the RPCs of the visualization client for submap data. 

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