├── .github ├── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md └── PULL_REQUEST_TEMPLATE.md ├── .gitignore ├── CMake ├── FindCHOLMOD.cmake ├── FindCSparse.cmake ├── FindG2O.cmake ├── FindGTSAM.cmake ├── FindMKL.cmake └── FindSuiteSparse.cmake ├── CMakeLists.txt ├── Dockerfile ├── LICENSE ├── README.md ├── config ├── mapper_params_lifelong.yaml ├── mapper_params_localization.yaml ├── mapper_params_offline.yaml ├── mapper_params_online_async.yaml ├── mapper_params_online_multi_async.yaml ├── mapper_params_online_sync.yaml └── slam_toolbox_default.rviz ├── docs └── decentralized_multi_robot_slam.md ├── images ├── ceres_solver_comparison.png ├── circuit_launch.gif ├── decentralized_multirobot │ ├── multi-robot_architecture.png │ ├── multi-robot_mapping.gif │ ├── network_architectures.png │ ├── node_graph.png │ └── simulation.gif ├── mapping_steves_apartment.gif ├── rviz_plugin.png └── slam_toolbox_sync.png ├── include └── slam_toolbox │ ├── experimental │ ├── slam_toolbox_lifelong.hpp │ └── slam_toolbox_map_and_localization.hpp │ ├── get_pose_helper.hpp │ ├── laser_utils.hpp │ ├── loop_closure_assistant.hpp │ ├── loop_closure_listener.hpp │ ├── map_saver.hpp │ ├── merge_maps_kinematic.hpp │ ├── serialization.hpp │ ├── slam_mapper.hpp │ ├── slam_toolbox_async.hpp │ ├── slam_toolbox_common.hpp │ ├── slam_toolbox_decentralized_multirobot.hpp │ ├── slam_toolbox_localization.hpp │ ├── slam_toolbox_sync.hpp │ ├── snap_utils.hpp │ ├── toolbox_msgs.hpp │ ├── toolbox_types.hpp │ └── visualization_utils.hpp ├── launch ├── lifelong_launch.py ├── localization_launch.py ├── merge_maps_kinematic_launch.py ├── offline_launch.py ├── online_async_decentralized_multirobot_launch.py ├── online_async_launch.py └── online_sync_launch.py ├── lib └── karto_sdk │ ├── Authors │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── include │ └── karto_sdk │ │ ├── Karto.h │ │ ├── Macros.h │ │ ├── Mapper.h │ │ ├── Math.h │ │ ├── Types.h │ │ ├── nanoflann.hpp │ │ └── nanoflann_adaptors.h │ ├── package.xml │ └── src │ ├── Karto.cpp │ └── Mapper.cpp ├── msg ├── GraphEdge.msg ├── GraphNode.msg ├── LocalizedLaserScan.msg ├── LoopClosureEvent.msg ├── NewNodeEvent.msg └── PoseGraph.msg ├── package.xml ├── rviz_plugin ├── slam_toolbox_rviz_plugin.cpp └── slam_toolbox_rviz_plugin.hpp ├── rviz_plugins.xml ├── solver_plugins.xml ├── solvers ├── ceres_solver.cpp ├── ceres_solver.hpp └── ceres_utils.h ├── src ├── experimental │ ├── slam_toolbox_lifelong.cpp │ ├── slam_toolbox_lifelong_node.cpp │ ├── slam_toolbox_map_and_localization.cpp │ └── slam_toolbox_map_and_localization_node.cpp ├── laser_utils.cpp ├── loop_closure_assistant.cpp ├── loop_closure_listener.cpp ├── map_saver.cpp ├── merge_maps_kinematic.cpp ├── slam_mapper.cpp ├── slam_toolbox_async.cpp ├── slam_toolbox_async_node.cpp ├── slam_toolbox_common.cpp ├── slam_toolbox_decentralized_multirobot.cpp ├── slam_toolbox_decentralized_multirobot_node.cpp ├── slam_toolbox_localization.cpp ├── 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