├── .gitignore ├── InstallROS2.md ├── LICENSE ├── README.md ├── amcl ├── AmclNode::AmclNode.xmind ├── CHANGELOG.rst ├── CMakeLists.txt ├── cfg │ └── AMCL.cfg ├── examples │ ├── amcl_diff.launch │ └── amcl_omni.launch ├── include │ └── amcl │ │ ├── map │ │ └── map.h │ │ ├── pf │ │ ├── eig3.h │ │ ├── pf.h │ │ ├── pf_kdtree.h │ │ ├── pf_pdf.h │ │ └── pf_vector.h │ │ └── sensors │ │ ├── amcl_laser.h │ │ ├── amcl_odom.h │ │ └── amcl_sensor.h ├── package.xml ├── src │ ├── amcl │ │ ├── map │ │ │ ├── map.c │ │ │ ├── map_cspace.cpp │ │ │ ├── map_draw.c │ │ │ ├── map_range.c │ │ │ └── map_store.c │ │ ├── pf │ │ │ ├── eig3.c │ │ │ ├── pf.c │ │ │ ├── pf_draw.c │ │ │ ├── pf_kdtree.c │ │ │ ├── pf_pdf.c │ │ │ └── pf_vector.c │ │ └── sensors │ │ │ ├── amcl_laser.cpp │ │ │ ├── amcl_odom.cpp │ │ │ └── amcl_sensor.cpp │ └── amcl_node.cpp └── test │ ├── basic_localization.py │ ├── basic_localization_stage.xml │ ├── global_localization_stage.xml │ ├── rosie_multilaser.xml │ ├── set_initial_pose.xml │ ├── set_initial_pose_delayed.xml │ ├── set_pose.py │ ├── small_loop_crazy_driving_prg.xml │ ├── small_loop_crazy_driving_prg_corrected.xml │ ├── small_loop_prf.xml │ ├── texas_greenroom_loop.xml │ ├── texas_greenroom_loop_corrected.xml │ ├── texas_willow_hallway_loop.xml │ └── texas_willow_hallway_loop_corrected.xml ├── bring_up ├── CMakeLists.txt ├── configuration_files │ └── my_cart.lua ├── launch │ ├── __pycache__ │ │ ├── amcl_launch.cpython-36.pyc │ │ ├── bring_up_launch.cpython-36.pyc │ │ └── only_cart.cpython-36.pyc │ ├── amcl_launch.py │ ├── bring_up_launch.py │ └── only_cart.py └── package.xml ├── cartographer ├── .bazelci │ └── presubmit.yml ├── .dockerignore ├── .travis.yml ├── BUILD.bazel ├── CHANGELOG.rst ├── CMakeLists.txt ├── CONTRIBUTING.md ├── Dockerfile.jessie ├── Dockerfile.stretch ├── Dockerfile.trusty ├── Dockerfile.trusty.bazel ├── Dockerfile.xenial ├── LICENSE ├── README.rst ├── RELEASING.rst ├── WORKSPACE ├── bazel │ ├── repositories.bzl │ └── third_party │ │ ├── BUILD.bazel │ │ ├── cairo │ │ ├── BUILD.bazel │ │ ├── cairo-features.h │ │ ├── cairo.BUILD │ │ └── config.h │ │ ├── ceres.BUILD │ │ ├── eigen.BUILD │ │ ├── expat.BUILD │ │ ├── fontconfig │ │ ├── BUILD.bazel │ │ ├── config.h │ │ └── fontconfig.BUILD │ │ ├── freetype2.BUILD │ │ ├── gd.BUILD │ │ ├── libjpeg.BUILD │ │ ├── libpng.BUILD │ │ ├── lua.BUILD │ │ ├── pixman │ │ ├── BUILD.bazel │ │ ├── config.h │ │ └── pixman.BUILD │ │ └── zlib.BUILD ├── cartographer-config.cmake.in ├── cartographer │ ├── .clang-format │ ├── BUILD.bazel │ ├── cloud │ │ ├── BUILD.bazel │ │ ├── client │ │ │ ├── map_builder_stub.cc │ │ │ └── map_builder_stub.h │ │ ├── internal │ │ │ ├── client │ │ │ │ ├── pose_graph_stub.cc │ │ │ │ ├── pose_graph_stub.h │ │ │ │ ├── trajectory_builder_stub.cc │ │ │ │ └── trajectory_builder_stub.h │ │ │ ├── client_server_test.cc │ │ │ ├── handlers │ │ │ │ ├── add_fixed_frame_pose_data_handler.cc │ │ │ │ ├── add_fixed_frame_pose_data_handler.h │ │ │ │ ├── add_fixed_frame_pose_data_handler_test.cc │ │ │ │ ├── add_imu_data_handler.cc │ │ │ │ ├── add_imu_data_handler.h │ │ │ │ ├── add_imu_data_handler_test.cc │ │ │ │ ├── add_landmark_data_handler.cc │ │ │ │ ├── add_landmark_data_handler.h │ │ │ │ ├── add_landmark_data_handler_test.cc │ │ │ │ ├── add_odometry_data_handler.cc │ │ │ │ ├── add_odometry_data_handler.h │ │ │ │ ├── add_odometry_data_handler_test.cc │ │ │ │ ├── add_rangefinder_data_handler.cc │ │ │ │ ├── add_rangefinder_data_handler.h │ │ │ │ ├── add_rangefinder_data_handler_test.cc │ │ │ │ ├── add_sensor_data_batch_handler.cc │ │ │ │ ├── add_sensor_data_batch_handler.h │ │ │ │ ├── add_sensor_data_handler_base.h │ │ │ │ ├── add_trajectory_handler.cc │ │ │ │ ├── add_trajectory_handler.h │ │ │ │ ├── add_trajectory_handler_test.cc │ │ │ │ ├── delete_trajectory_handler.cc │ │ │ │ ├── delete_trajectory_handler.h │ │ │ │ ├── finish_trajectory_handler.cc │ │ │ │ ├── finish_trajectory_handler.h │ │ │ │ ├── get_all_submap_poses.cc │ │ │ │ ├── get_all_submap_poses.h │ │ │ │ ├── get_constraints_handler.cc │ │ │ │ ├── get_constraints_handler.h │ │ │ │ ├── get_landmark_poses_handler.cc │ │ │ │ ├── get_landmark_poses_handler.h │ │ │ │ ├── get_landmark_poses_handler_test.cc │ │ │ │ ├── get_local_to_global_transform_handler.cc │ │ │ │ ├── get_local_to_global_transform_handler.h │ │ │ │ ├── get_submap_handler.cc │ │ │ │ ├── get_submap_handler.h │ │ │ │ ├── get_trajectory_node_poses_handler.cc │ │ │ │ ├── get_trajectory_node_poses_handler.h │ │ │ │ ├── get_trajectory_states_handler.cc │ │ │ │ ├── get_trajectory_states_handler.h │ │ │ │ ├── is_trajectory_finished_handler.cc │ │ │ │ ├── is_trajectory_finished_handler.h │ │ │ │ ├── is_trajectory_frozen_handler.cc │ │ │ │ ├── is_trajectory_frozen_handler.h │ │ │ │ ├── load_state_from_file_handler.cc │ │ │ │ ├── load_state_from_file_handler.h │ │ │ │ ├── load_state_handler.cc │ │ │ │ ├── load_state_handler.h │ │ │ │ ├── receive_global_slam_optimizations_handler.cc │ │ │ │ ├── receive_global_slam_optimizations_handler.h │ │ │ │ ├── receive_local_slam_results_handler.cc │ │ │ │ ├── receive_local_slam_results_handler.h │ │ │ │ ├── run_final_optimization_handler.cc │ │ │ │ ├── run_final_optimization_handler.h │ │ │ │ ├── set_landmark_pose_handler.cc │ │ │ │ ├── set_landmark_pose_handler.h │ │ │ │ ├── set_landmark_pose_handler_test.cc │ │ │ │ ├── write_state_handler.cc │ │ │ │ └── write_state_handler.h │ │ │ ├── local_trajectory_uploader.cc │ │ │ ├── local_trajectory_uploader.h │ │ │ ├── map_builder_context_impl.cc │ │ │ ├── map_builder_context_impl.h │ │ │ ├── map_builder_context_interface.h │ │ │ ├── map_builder_server.cc │ │ │ ├── map_builder_server.h │ │ │ ├── mapping │ │ │ │ ├── serialization.cc │ │ │ │ └── serialization.h │ │ │ ├── sensor │ │ │ │ ├── serialization.cc │ │ │ │ └── serialization.h │ │ │ └── testing │ │ │ │ ├── handler_test.h │ │ │ │ ├── mock_local_trajectory_uploader.h │ │ │ │ ├── mock_map_builder_context.h │ │ │ │ ├── test_helpers.cc │ │ │ │ └── test_helpers.h │ │ ├── map_builder_server_interface.cc │ │ ├── map_builder_server_interface.h │ │ ├── map_builder_server_main.cc │ │ ├── map_builder_server_options.cc │ │ ├── map_builder_server_options.h │ │ ├── metrics │ │ │ └── prometheus │ │ │ │ ├── family_factory.cc │ │ │ │ ├── family_factory.h │ │ │ │ └── metrics_test.cc │ │ └── proto │ │ │ ├── map_builder_server_options.proto │ │ │ └── map_builder_service.proto │ ├── common │ │ ├── blocking_queue.h │ │ ├── blocking_queue_test.cc │ │ ├── ceres_solver_options.cc │ │ ├── ceres_solver_options.h │ │ ├── config.h.cmake │ │ ├── configuration_file_resolver.cc │ │ ├── configuration_file_resolver.h │ │ ├── configuration_files_test.cc │ │ ├── fixed_ratio_sampler.cc │ │ ├── fixed_ratio_sampler.h │ │ ├── fixed_ratio_sampler_test.cc │ │ ├── histogram.cc │ │ ├── histogram.h │ │ ├── internal │ │ │ └── testing │ │ │ │ ├── thread_pool_for_testing.cc │ │ │ │ └── thread_pool_for_testing.h │ │ ├── lockless_queue.h │ │ ├── lockless_queue_test.cc │ │ ├── lua.h │ │ ├── lua_parameter_dictionary.cc │ │ ├── lua_parameter_dictionary.h │ │ ├── lua_parameter_dictionary_test.cc │ │ ├── lua_parameter_dictionary_test_helpers.h │ │ ├── make_unique.h │ │ ├── math.h │ │ ├── math_test.cc │ │ ├── mutex.h │ │ ├── optional.h │ │ ├── optional_test.cc │ │ ├── port.h │ │ ├── proto │ │ │ └── ceres_solver_options.proto │ │ ├── rate_timer.h │ │ ├── rate_timer_test.cc │ │ ├── task.cc │ │ ├── task.h │ │ ├── task_test.cc │ │ ├── thread_pool.cc │ │ ├── thread_pool.h │ │ ├── thread_pool_test.cc │ │ ├── time.cc │ │ ├── time.h │ │ └── utils.h │ ├── ground_truth │ │ ├── autogenerate_ground_truth.cc │ │ ├── autogenerate_ground_truth.h │ │ ├── autogenerate_ground_truth_main.cc │ │ ├── compute_relations_metrics_main.cc │ │ ├── proto │ │ │ └── relations.proto │ │ ├── relations_text_file.cc │ │ └── relations_text_file.h │ ├── io │ │ ├── color.cc │ │ ├── color.h │ │ ├── coloring_points_processor.cc │ │ ├── coloring_points_processor.h │ │ ├── counting_points_processor.cc │ │ ├── counting_points_processor.h │ │ ├── draw_trajectories.cc │ │ ├── draw_trajectories.h │ │ ├── fake_file_writer.cc │ │ ├── fake_file_writer.h │ │ ├── fake_file_writer_test.cc │ │ ├── file_writer.cc │ │ ├── file_writer.h │ │ ├── fixed_ratio_sampling_points_processor.cc │ │ ├── fixed_ratio_sampling_points_processor.h │ │ ├── frame_id_filtering_points_processor.cc │ │ ├── frame_id_filtering_points_processor.h │ │ ├── hybrid_grid_points_processor.cc │ │ ├── hybrid_grid_points_processor.h │ │ ├── image.cc │ │ ├── image.h │ │ ├── intensity_to_color_points_processor.cc │ │ ├── intensity_to_color_points_processor.h │ │ ├── internal │ │ │ ├── in_memory_proto_stream.cc │ │ │ ├── in_memory_proto_stream.h │ │ │ ├── in_memory_proto_stream_test.cc │ │ │ ├── mapping_state_serialization.cc │ │ │ └── mapping_state_serialization.h │ │ ├── migrate_serialization_format_main.cc │ │ ├── min_max_range_filtering_points_processor.cc │ │ ├── min_max_range_filtering_points_processor.h │ │ ├── null_points_processor.h │ │ ├── outlier_removing_points_processor.cc │ │ ├── outlier_removing_points_processor.h │ │ ├── pcd_writing_points_processor.cc │ │ ├── pcd_writing_points_processor.h │ │ ├── ply_writing_points_processor.cc │ │ ├── ply_writing_points_processor.h │ │ ├── points_batch.cc │ │ ├── points_batch.h │ │ ├── points_processor.h │ │ ├── points_processor_pipeline_builder.cc │ │ ├── points_processor_pipeline_builder.h │ │ ├── points_processor_pipeline_builder_test.cc │ │ ├── probability_grid_points_processor.cc │ │ ├── probability_grid_points_processor.h │ │ ├── probability_grid_points_processor_test.cc │ │ ├── proto_stream.cc │ │ ├── proto_stream.h │ │ ├── proto_stream_deserializer.cc │ │ ├── proto_stream_deserializer.h │ │ ├── proto_stream_deserializer_test.cc │ │ ├── proto_stream_interface.h │ │ ├── proto_stream_test.cc │ │ ├── serialization_format_migration.cc │ │ ├── serialization_format_migration.h │ │ ├── serialization_format_migration_test.cc │ │ ├── submap_painter.cc │ │ ├── submap_painter.h │ │ ├── testing │ │ │ ├── test_helpers.cc │ │ │ └── test_helpers.h │ │ ├── xray_points_processor.cc │ │ ├── xray_points_processor.h │ │ ├── xyz_writing_points_processor.cc │ │ └── xyz_writing_points_processor.h │ ├── mapping │ │ ├── 2d │ │ │ ├── grid_2d.cc │ │ │ ├── grid_2d.h │ │ │ ├── map_limits.h │ │ │ ├── map_limits_test.cc │ │ │ ├── probability_grid.cc │ │ │ ├── probability_grid.h │ │ │ ├── probability_grid_range_data_inserter_2d.cc │ │ │ ├── probability_grid_range_data_inserter_2d.h │ │ │ ├── probability_grid_test.cc │ │ │ ├── range_data_inserter_2d_test.cc │ │ │ ├── submap_2d.cc │ │ │ ├── submap_2d.h │ │ │ ├── submap_2d_test.cc │ │ │ ├── tsdf_2d.cc │ │ │ ├── tsdf_2d.h │ │ │ ├── tsdf_2d_test.cc │ │ │ ├── tsdf_range_data_inserter_2d.cc │ │ │ ├── tsdf_range_data_inserter_2d.h │ │ │ ├── tsdf_range_data_inserter_2d_test.cc │ │ │ ├── xy_index.h │ │ │ └── xy_index_test.cc │ │ ├── 3d │ │ │ ├── hybrid_grid.h │ │ │ ├── hybrid_grid_test.cc │ │ │ ├── range_data_inserter_3d.cc │ │ │ ├── range_data_inserter_3d.h │ │ │ ├── range_data_inserter_3d_test.cc │ │ │ ├── submap_3d.cc │ │ │ ├── submap_3d.h │ │ │ └── submap_3d_test.cc │ │ ├── detect_floors.cc │ │ ├── detect_floors.h │ │ ├── grid_interface.h │ │ ├── id.h │ │ ├── id_test.cc │ │ ├── imu_tracker.cc │ │ ├── imu_tracker.h │ │ ├── imu_tracker_test.cc │ │ ├── internal │ │ │ ├── 2d │ │ │ │ ├── local_slam_result_2d.cc │ │ │ │ ├── local_slam_result_2d.h │ │ │ │ ├── local_trajectory_builder_2d.cc │ │ │ │ ├── local_trajectory_builder_2d.h │ │ │ │ ├── local_trajectory_builder_options_2d.cc │ │ │ │ ├── local_trajectory_builder_options_2d.h │ │ │ │ ├── normal_estimation_2d.cc │ │ │ │ ├── normal_estimation_2d.h │ │ │ │ ├── normal_estimation_2d_test.cc │ │ │ │ ├── overlapping_submaps_trimmer_2d.cc │ │ │ │ ├── overlapping_submaps_trimmer_2d.h │ │ │ │ ├── overlapping_submaps_trimmer_2d_test.cc │ │ │ │ ├── pose_graph_2d.cc │ │ │ │ ├── pose_graph_2d.h │ │ │ │ ├── pose_graph_2d_test.cc │ │ │ │ ├── ray_to_pixel_mask.cc │ │ │ │ ├── ray_to_pixel_mask.h │ │ │ │ ├── ray_to_pixel_mask_test.cc │ │ │ │ └── scan_matching │ │ │ │ │ ├── ceres_scan_matcher_2d.cc │ │ │ │ │ ├── ceres_scan_matcher_2d.h │ │ │ │ │ ├── ceres_scan_matcher_2d_test.cc │ │ │ │ │ ├── correlative_scan_matcher_2d.cc │ │ │ │ │ ├── correlative_scan_matcher_2d.h │ │ │ │ │ ├── correlative_scan_matcher_test.cc │ │ │ │ │ ├── fast_correlative_scan_matcher_2d.cc │ │ │ │ │ ├── fast_correlative_scan_matcher_2d.h │ │ │ │ │ ├── fast_correlative_scan_matcher_2d_test.cc │ │ │ │ │ ├── interpolated_tsdf_2d.h │ │ │ │ │ ├── interpolated_tsdf_2d_test.cc │ │ │ │ │ ├── occupied_space_cost_function_2d.cc │ │ │ │ │ ├── occupied_space_cost_function_2d.h │ │ │ │ │ ├── occupied_space_cost_function_2d_test.cc │ │ │ │ │ ├── real_time_correlative_scan_matcher_2d.cc │ │ │ │ │ ├── real_time_correlative_scan_matcher_2d.h │ │ │ │ │ ├── real_time_correlative_scan_matcher_2d_test.cc │ │ │ │ │ ├── rotation_delta_cost_functor_2d.h │ │ │ │ │ └── translation_delta_cost_functor_2d.h │ │ │ ├── 3d │ │ │ │ ├── imu_integration.h │ │ │ │ ├── local_slam_result_3d.cc │ │ │ │ ├── local_slam_result_3d.h │ │ │ │ ├── local_trajectory_builder_3d.cc │ │ │ │ ├── local_trajectory_builder_3d.h │ │ │ │ ├── local_trajectory_builder_3d_test.cc │ │ │ │ ├── local_trajectory_builder_options_3d.cc │ │ │ │ ├── local_trajectory_builder_options_3d.h │ │ │ │ ├── pose_graph_3d.cc │ │ │ │ ├── pose_graph_3d.h │ │ │ │ ├── pose_graph_3d_test.cc │ │ │ │ ├── rotation_parameterization.h │ │ │ │ └── scan_matching │ │ │ │ │ ├── ceres_scan_matcher_3d.cc │ │ │ │ │ ├── ceres_scan_matcher_3d.h │ │ │ │ │ ├── ceres_scan_matcher_3d_test.cc │ │ │ │ │ ├── fast_correlative_scan_matcher_3d.cc │ │ │ │ │ ├── fast_correlative_scan_matcher_3d.h │ │ │ │ │ ├── fast_correlative_scan_matcher_3d_test.cc │ │ │ │ │ ├── interpolated_grid.h │ │ │ │ │ ├── interpolated_grid_test.cc │ │ │ │ │ ├── low_resolution_matcher.cc │ │ │ │ │ ├── low_resolution_matcher.h │ │ │ │ │ ├── occupied_space_cost_function_3d.h │ │ │ │ │ ├── precomputation_grid_3d.cc │ │ │ │ │ ├── precomputation_grid_3d.h │ │ │ │ │ ├── precomputation_grid_3d_test.cc │ │ │ │ │ ├── real_time_correlative_scan_matcher_3d.cc │ │ │ │ │ ├── real_time_correlative_scan_matcher_3d.h │ │ │ │ │ ├── real_time_correlative_scan_matcher_3d_test.cc │ │ │ │ │ ├── rotation_delta_cost_functor_3d.h │ │ │ │ │ ├── rotation_delta_cost_functor_3d_test.cc │ │ │ │ │ ├── rotational_scan_matcher.cc │ │ │ │ │ ├── rotational_scan_matcher.h │ │ │ │ │ ├── rotational_scan_matcher_test.cc │ │ │ │ │ └── translation_delta_cost_functor_3d.h │ │ │ ├── collated_trajectory_builder.cc │ │ │ ├── collated_trajectory_builder.h │ │ │ ├── connected_components.cc │ │ │ ├── connected_components.h │ │ │ ├── connected_components_test.cc │ │ │ ├── constraints │ │ │ │ ├── constraint_builder.cc │ │ │ │ ├── constraint_builder.h │ │ │ │ ├── constraint_builder_2d.cc │ │ │ │ ├── constraint_builder_2d.h │ │ │ │ ├── constraint_builder_2d_test.cc │ │ │ │ ├── constraint_builder_3d.cc │ │ │ │ ├── constraint_builder_3d.h │ │ │ │ └── constraint_builder_3d_test.cc │ │ │ ├── global_trajectory_builder.cc │ │ │ ├── global_trajectory_builder.h │ │ │ ├── motion_filter.cc │ │ │ ├── motion_filter.h │ │ │ ├── motion_filter_test.cc │ │ │ ├── optimization │ │ │ │ ├── ceres_pose.cc │ │ │ │ ├── ceres_pose.h │ │ │ │ ├── cost_functions │ │ │ │ │ ├── acceleration_cost_function_3d.h │ │ │ │ │ ├── cost_helpers.h │ │ │ │ │ ├── cost_helpers_impl.h │ │ │ │ │ ├── landmark_cost_function_2d.h │ │ │ │ │ ├── landmark_cost_function_2d_test.cc │ │ │ │ │ ├── landmark_cost_function_3d.h │ │ │ │ │ ├── landmark_cost_function_3d_test.cc │ │ │ │ │ ├── rotation_cost_function_3d.h │ │ │ │ │ ├── spa_cost_function_2d.cc │ │ │ │ │ ├── spa_cost_function_2d.h │ │ │ │ │ ├── spa_cost_function_2d_test.cc │ │ │ │ │ └── spa_cost_function_3d.h │ │ │ │ ├── optimization_problem_2d.cc │ │ │ │ ├── optimization_problem_2d.h │ │ │ │ ├── optimization_problem_3d.cc │ │ │ │ ├── optimization_problem_3d.h │ │ │ │ ├── optimization_problem_3d_test.cc │ │ │ │ ├── optimization_problem_interface.h │ │ │ │ ├── optimization_problem_options.cc │ │ │ │ └── optimization_problem_options.h │ │ │ ├── range_data_collator.cc │ │ │ ├── range_data_collator.h │ │ │ ├── range_data_collator_test.cc │ │ │ ├── scan_matching │ │ │ │ ├── real_time_correlative_scan_matcher.cc │ │ │ │ └── real_time_correlative_scan_matcher.h │ │ │ ├── submap_controller.cc │ │ │ ├── submap_controller.h │ │ │ ├── testing │ │ │ │ ├── fake_trimmable.h │ │ │ │ ├── mock_map_builder.h │ │ │ │ ├── mock_pose_graph.h │ │ │ │ ├── mock_trajectory_builder.h │ │ │ │ ├── test_helpers.cc │ │ │ │ └── test_helpers.h │ │ │ ├── trajectory_connectivity_state.cc │ │ │ ├── trajectory_connectivity_state.h │ │ │ ├── trajectory_connectivity_state_test.cc │ │ │ ├── tsd_value_converter.cc │ │ │ ├── tsd_value_converter.h │ │ │ ├── tsd_value_converter_test.cc │ │ │ └── work_queue.h │ │ ├── local_slam_result_data.h │ │ ├── map_builder.cc │ │ ├── map_builder.h │ │ ├── map_builder_interface.h │ │ ├── map_builder_test.cc │ │ ├── pose_extrapolator.cc │ │ ├── pose_extrapolator.h │ │ ├── pose_extrapolator_test.cc │ │ ├── pose_graph.cc │ │ ├── pose_graph.h │ │ ├── pose_graph_data.h │ │ ├── pose_graph_interface.h │ │ ├── pose_graph_test.cc │ │ ├── pose_graph_trimmer.cc │ │ ├── pose_graph_trimmer.h │ │ ├── pose_graph_trimmer_test.cc │ │ ├── probability_values.cc │ │ ├── probability_values.h │ │ ├── probability_values_test.cc │ │ ├── proto │ │ │ ├── 2d │ │ │ │ ├── cell_limits.proto │ │ │ │ ├── grid_2d.proto │ │ │ │ ├── grid_2d_options.proto │ │ │ │ ├── local_trajectory_builder_options_2d.proto │ │ │ │ ├── map_limits.proto │ │ │ │ ├── normal_estimation_options_2d.proto │ │ │ │ ├── probability_grid.proto │ │ │ │ ├── probability_grid_range_data_inserter_options_2d.proto │ │ │ │ ├── submaps_options_2d.proto │ │ │ │ ├── tsdf_2d.proto │ │ │ │ └── tsdf_range_data_inserter_options_2d.proto │ │ │ ├── 3d │ │ │ │ ├── hybrid_grid.proto │ │ │ │ ├── local_trajectory_builder_options_3d.proto │ │ │ │ ├── range_data_inserter_options_3d.proto │ │ │ │ └── submaps_options_3d.proto │ │ │ ├── connected_components.proto │ │ │ ├── internal │ │ │ │ └── legacy_serialized_data.proto │ │ │ ├── map_builder_options.proto │ │ │ ├── motion_filter_options.proto │ │ │ ├── pose_graph.proto │ │ │ ├── pose_graph │ │ │ │ ├── constraint_builder_options.proto │ │ │ │ └── optimization_problem_options.proto │ │ │ ├── pose_graph_options.proto │ │ │ ├── range_data_inserter_options.proto │ │ │ ├── scan_matching │ │ │ │ ├── ceres_scan_matcher_options_2d.proto │ │ │ │ ├── ceres_scan_matcher_options_3d.proto │ │ │ │ ├── fast_correlative_scan_matcher_options_2d.proto │ │ │ │ ├── fast_correlative_scan_matcher_options_3d.proto │ │ │ │ └── real_time_correlative_scan_matcher_options.proto │ │ │ ├── serialization.proto │ │ │ ├── submap.proto │ │ │ ├── submap_visualization.proto │ │ │ ├── trajectory.proto │ │ │ ├── trajectory_builder_options.proto │ │ │ └── trajectory_node_data.proto │ │ ├── range_data_inserter_interface.cc │ │ ├── range_data_inserter_interface.h │ │ ├── submaps.h │ │ ├── submaps_test.cc │ │ ├── trajectory_builder_interface.cc │ │ ├── trajectory_builder_interface.h │ │ ├── trajectory_node.cc │ │ ├── trajectory_node.h │ │ ├── trajectory_node_test.cc │ │ ├── value_conversion_tables.cc │ │ ├── value_conversion_tables.h │ │ └── value_conversion_tables_test.cc │ ├── metrics │ │ ├── counter.cc │ │ ├── counter.h │ │ ├── family_factory.h │ │ ├── gauge.cc │ │ ├── gauge.h │ │ ├── histogram.cc │ │ ├── histogram.h │ │ ├── register.cc │ │ └── register.h │ ├── pose_graph │ │ ├── constraint │ │ │ ├── constraint.cc │ │ │ ├── constraint.h │ │ │ ├── cost_function │ │ │ │ ├── relative_pose_cost_2d.cc │ │ │ │ ├── relative_pose_cost_2d.h │ │ │ │ ├── relative_pose_cost_2d_test.cc │ │ │ │ ├── relative_pose_cost_3d.cc │ │ │ │ ├── relative_pose_cost_3d.h │ │ │ │ ├── relative_pose_cost_3d_test.cc │ │ │ │ ├── rotation_cost_3d.cc │ │ │ │ ├── rotation_cost_3d.h │ │ │ │ └── rotation_cost_3d_test.cc │ │ │ ├── loss_function │ │ │ │ ├── loss_function.cc │ │ │ │ ├── loss_function.h │ │ │ │ └── loss_function_test.cc │ │ │ ├── relative_pose_constraint_2d.cc │ │ │ ├── relative_pose_constraint_2d.h │ │ │ ├── relative_pose_constraint_3d.cc │ │ │ └── relative_pose_constraint_3d.h │ │ ├── internal │ │ │ └── testing │ │ │ │ └── test_helpers.h │ │ ├── node │ │ │ ├── imu_calibration.cc │ │ │ ├── imu_calibration.h │ │ │ ├── imu_calibration_test.cc │ │ │ ├── node.cc │ │ │ ├── node.h │ │ │ ├── node_id.cc │ │ │ ├── node_id.h │ │ │ ├── node_id_test.cc │ │ │ ├── nodes.h │ │ │ ├── pose_2d.cc │ │ │ ├── pose_2d.h │ │ │ ├── pose_2d_test.cc │ │ │ ├── pose_3d.cc │ │ │ ├── pose_3d.h │ │ │ └── pose_3d_test.cc │ │ ├── optimizer │ │ │ ├── ceres_optimizer.cc │ │ │ ├── ceres_optimizer.h │ │ │ ├── ceres_optimizer_test.cc │ │ │ └── optimizer.h │ │ ├── pose_graph_data.h │ │ └── proto │ │ │ ├── constraint.proto │ │ │ ├── cost_function.proto │ │ │ ├── loss_function.proto │ │ │ ├── node.proto │ │ │ └── pose_graph_data.proto │ ├── sensor │ │ ├── collator_interface.h │ │ ├── compressed_point_cloud.cc │ │ ├── compressed_point_cloud.h │ │ ├── compressed_point_cloud_test.cc │ │ ├── data.h │ │ ├── fixed_frame_pose_data.cc │ │ ├── fixed_frame_pose_data.h │ │ ├── imu_data.cc │ │ ├── imu_data.h │ │ ├── internal │ │ │ ├── collator.cc │ │ │ ├── collator.h │ │ │ ├── collator_test.cc │ │ │ ├── dispatchable.h │ │ │ ├── ordered_multi_queue.cc │ │ │ ├── ordered_multi_queue.h │ │ │ ├── ordered_multi_queue_test.cc │ │ │ ├── test_helpers.h │ │ │ ├── trajectory_collator.cc │ │ │ ├── trajectory_collator.h │ │ │ ├── trajectory_collator_test.cc │ │ │ ├── voxel_filter.cc │ │ │ ├── voxel_filter.h │ │ │ └── voxel_filter_test.cc │ │ ├── landmark_data.cc │ │ ├── landmark_data.h │ │ ├── landmark_data_test.cc │ │ ├── map_by_time.h │ │ ├── map_by_time_test.cc │ │ ├── odometry_data.cc │ │ ├── odometry_data.h │ │ ├── point_cloud.cc │ │ ├── point_cloud.h │ │ ├── point_cloud_test.cc │ │ ├── proto │ │ │ ├── adaptive_voxel_filter_options.proto │ │ │ └── sensor.proto │ │ ├── range_data.cc │ │ ├── range_data.h │ │ ├── range_data_test.cc │ │ ├── timed_point_cloud_data.cc │ │ └── timed_point_cloud_data.h │ └── transform │ │ ├── proto │ │ └── transform.proto │ │ ├── rigid_transform.cc │ │ ├── rigid_transform.h │ │ ├── rigid_transform_test.cc │ │ ├── rigid_transform_test_helpers.h │ │ ├── timestamped_transform.cc │ │ ├── timestamped_transform.h │ │ ├── transform.cc │ │ ├── transform.h │ │ ├── transform_interpolation_buffer.cc │ │ ├── transform_interpolation_buffer.h │ │ ├── transform_interpolation_buffer_test.cc │ │ └── transform_test.cc ├── cmake │ ├── functions.cmake │ └── modules │ │ ├── FindGMock.cmake │ │ ├── FindLuaGoogle.cmake │ │ └── FindSphinx.cmake ├── configuration_files │ ├── map_builder.lua │ ├── map_builder_server.lua │ ├── pose_graph.lua │ ├── trajectory_builder.lua │ ├── trajectory_builder_2d.lua │ └── trajectory_builder_3d.lua ├── docs │ ├── CMakeLists.txt │ ├── assets │ │ ├── logo_1024dp.png │ │ ├── logo_128dp.png │ │ ├── logo_16dp.png │ │ ├── logo_16dp.svg │ │ ├── logo_192dp.png │ │ ├── logo_24dp.png │ │ ├── logo_24dp.svg │ │ ├── logo_32dp.png │ │ ├── logo_32dp.svg │ │ ├── logo_36dp.png │ │ ├── logo_36dp.svg │ │ ├── logo_48dp.png │ │ ├── logo_48dp.svg │ │ ├── logo_512dp.png │ │ ├── logo_512dp.svg │ │ ├── logo_64dp.png │ │ ├── logo_64dp.svg │ │ ├── logo_72dp.png │ │ ├── logo_96dp.png │ │ ├── logo_96dp.svg │ │ └── t_shirt │ │ │ ├── logo_cartographer.ai │ │ │ ├── logo_cartographer.svg │ │ │ ├── logo_cartographer_512dp_shaded.svg │ │ │ ├── pantone_lookup.png │ │ │ └── pantone_lookup.txt │ └── source │ │ ├── autogenerate_groundtruth.png │ │ ├── conf.py │ │ ├── configuration.rst │ │ ├── cost_functions.rst │ │ ├── evaluation.rst │ │ ├── high_level_system_overview.png │ │ ├── index.rst │ │ ├── pbstream_migration.rst │ │ └── terminology.rst ├── package.xml ├── scripts │ ├── build_test_asan.sh │ ├── install_async_grpc.sh │ ├── install_cartographer_bazel.sh │ ├── install_cartographer_cmake.sh │ ├── install_cartographer_cmake_with_grpc.sh │ ├── install_ceres.sh │ ├── install_debs_bazel.sh │ ├── install_debs_cmake.sh │ ├── install_grpc.sh │ ├── install_prometheus_cpp.sh │ ├── install_proto3.sh │ ├── load_docker_cache.sh │ ├── save_docker_cache.sh │ └── update_configuration_doc.py └── tools │ └── bazel.rc ├── cartographer_paper ├── AMENT_IGNORE ├── Real-Time Loop Closure in 2D LIDAR SLAM.pdf ├── Real-time correlative Scan Matching.pdf ├── google-cartographer-ros.pdf ├── google-cartographer.pdf ├── spa2d.pdf └── 非线性优化.pdf ├── cartographer_ros_migrate ├── LICENSE ├── README.rst ├── cartographer_ros │ ├── CMakeLists.txt │ ├── cartographer_ros │ │ ├── .clang-format │ │ ├── CMakeLists.txt │ │ ├── map_builder_bridge.cc │ │ ├── map_builder_bridge.h │ │ ├── metrics │ │ │ ├── family_factory.cc │ │ │ ├── family_factory.h │ │ │ └── internal │ │ │ │ ├── counter.h │ │ │ │ ├── family.cc │ │ │ │ ├── family.h │ │ │ │ ├── gauge.h │ │ │ │ ├── histogram.cc │ │ │ │ └── histogram.h │ │ ├── msg_conversion.cc │ │ ├── msg_conversion.h │ │ ├── node.cc │ │ ├── node.h │ │ ├── node_constants.cc │ │ ├── node_constants.h │ │ ├── node_main.cc │ │ ├── node_options.cc │ │ ├── node_options.h │ │ ├── ros_log_sink.cc │ │ ├── ros_log_sink.h │ │ ├── ros_map.cc │ │ ├── ros_map.h │ │ ├── ros_map_writing_points_processor.cc │ │ ├── ros_map_writing_points_processor.h │ │ ├── sensor_bridge.cc │ │ ├── sensor_bridge.h │ │ ├── split_string.cc │ │ ├── split_string.h │ │ ├── tf_bridge.cc │ │ ├── tf_bridge.h │ │ ├── time_conversion.cc │ │ ├── time_conversion.h │ │ ├── trajectory_options.cc │ │ ├── trajectory_options.h │ │ ├── urdf_reader.cc │ │ └── urdf_reader.h │ ├── configuration_files │ │ ├── assets_writer_backpack_2d.lua │ │ ├── assets_writer_backpack_2d_ci.lua │ │ ├── assets_writer_backpack_3d.lua │ │ ├── assets_writer_ros_map.lua │ │ ├── backpack_2d.lua │ │ ├── backpack_2d_localization.lua │ │ ├── backpack_2d_localization_evaluation.lua │ │ ├── backpack_2d_server.lua │ │ ├── backpack_3d.lua │ │ ├── backpack_3d_localization.lua │ │ ├── demo_2d.rviz │ │ ├── demo_3d.rviz │ │ ├── pr2.lua │ │ ├── revo_lds.lua │ │ ├── taurob_tracker.lua │ │ ├── transform.lua │ │ └── visualize_pbstream.lua │ ├── package.xml │ └── urdf │ │ ├── backpack_2d.urdf │ │ └── backpack_3d.urdf ├── cartographer_ros_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── HistogramBucket.msg │ │ ├── LandmarkEntry.msg │ │ ├── LandmarkList.msg │ │ ├── Metric.msg │ │ ├── MetricFamily.msg │ │ ├── MetricLabel.msg │ │ ├── SensorTopics.msg │ │ ├── StatusCode.msg │ │ ├── StatusResponse.msg │ │ ├── SubmapEntry.msg │ │ ├── SubmapList.msg │ │ ├── SubmapTexture.msg │ │ ├── TrajectoryOptions.msg │ │ └── TrajectoryStates.msg │ ├── package.xml │ └── srv │ │ ├── FinishTrajectory.srv │ │ ├── GetTrajectoryStates.srv │ │ ├── ReadMetrics.srv │ │ ├── StartTrajectory.srv │ │ ├── SubmapQuery.srv │ │ └── WriteState.srv └── node_main.xmind ├── dependencies ├── AMENT_IGNORE └── install_proto3.sh ├── map_server ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── map_server │ │ └── image_loader.h ├── package.xml ├── scripts │ └── crop_map ├── src │ ├── image_loader.cpp │ ├── main.cpp │ ├── map_saver.cpp │ └── map_server.dox └── test │ ├── consumer.py │ ├── rtest.cpp │ ├── rtest.launch.py.in │ ├── rtest.xml │ ├── test_constants.cpp │ ├── test_constants.h │ ├── testmap.bmp │ ├── testmap.png │ ├── testmap.yaml │ └── utest.cpp └── tools ├── AMENT_IGNORE ├── bagfiles ├── 2018-06-30-22-30-13.bag ├── 2018-07-01-21-25-22.bag ├── 2018-07-10-17-26-48.bag ├── 2018-07-11-20-37-41.bag ├── 2018-07-11-20-40-39.bag ├── mapping.bag └── new_mapping.bag ├── gazebo_model ├── models │ ├── ISCAS_Museum │ │ ├── meshes │ │ │ ├── ISCAS_museum.dae │ │ │ ├── zd_011.jpg │ │ │ ├── zd_021.jpg │ │ │ ├── zd_031.jpg │ │ │ └── zd_041.jpg │ │ ├── model.config │ │ └── model.sdf │ ├── ISCAS_groundplane │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── ISCAS_groundplane.material │ │ │ └── textures │ │ │ │ └── ISCAS_groundplane.png │ │ ├── model.config │ │ └── model.sdf │ ├── ISCAS_post │ │ ├── meshes │ │ │ └── post.dae │ │ ├── model.config │ │ └── model.sdf │ └── meshes │ │ ├── base_link.dae │ │ ├── pitch_platform.dae │ │ ├── realsense.dae │ │ ├── rplidar.dae │ │ ├── sick_tim571.stl │ │ ├── uvtietu.jpg │ │ ├── wheel.dae │ │ ├── wheel.jpg │ │ ├── xtion_pro_camera.dae │ │ ├── xtion_pro_camera.jpg │ │ └── yaw_platform.dae ├── my_model │ └── museum │ │ ├── model.config │ │ └── model.sdf ├── urdf │ ├── materials.xacro │ ├── robot.xacro │ ├── sick_tim.urdf.xacro │ ├── xbot-u.gazebo │ └── xbot-u.urdf.xacro └── worlds │ └── ROS-Academy.world ├── mymap.pgm ├── mymap.yaml └── ros1_stage ├── icra.pgm ├── icra.world ├── icra.yaml └── navigation_stage.launch /.gitignore: -------------------------------------------------------------------------------- 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