how to use imu and odometry in cartographer?

[Jia Zheng]

Hello everyone,

     I am running the google-cartographer and I got the map now. But I only use the hokuyo laser sensor, and now I want to use the imu and odometry in developing map.

Could you tell me  what I should do? Thank you very much! 

[Damon Kohler]

Hi Jia,

Are you using ROS? Have a look at the API documentation here:

https://google-cartographer-ros.readthedocs.io/

Additionally, you can look at the example configurations for the TurtleBot:

https://github.com/googlecartographer/cartographer_turtlebot

Damon

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