├── .dockerignore ├── .github ├── ISSUE_TEMPLATE │ ├── bug-report.md │ ├── general-issue.md │ └── tuning-advice.md └── PULL_REQUEST_TEMPLATE.md ├── .travis.yml ├── AUTHORS ├── CONTRIBUTING.md ├── Dockerfile.melodic ├── Dockerfile.noetic ├── LICENSE ├── README.rst ├── azure-pipelines.yml ├── cartographer_ros.rosinstall ├── cartographer_ros ├── CHANGELOG.rst ├── CMakeLists.txt ├── cartographer_ros │ ├── .clang-format │ ├── CMakeLists.txt │ ├── assets_writer.cc │ ├── assets_writer.h │ ├── assets_writer_main.cc │ ├── cartographer_grpc │ │ ├── node_grpc_main.cc │ │ └── offline_node_grpc_main.cc │ ├── configuration_files_test.cc │ ├── dev │ │ ├── pbstream_trajectories_to_rosbag_main.cc │ │ ├── rosbag_publisher_main.cc │ │ └── trajectory_comparison_main.cc │ ├── 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 │ │ │ └── metrics_test.cc │ ├── msg_conversion.cc │ ├── msg_conversion.h │ ├── msg_conversion_test.cc │ ├── node.cc │ ├── node.h │ ├── node_constants.cc │ ├── node_constants.h │ ├── node_main.cc │ ├── node_options.cc │ ├── node_options.h │ ├── occupancy_grid_node_main.cc │ ├── offline_node.cc │ ├── offline_node.h │ ├── offline_node_main.cc │ ├── pbstream_map_publisher_main.cc │ ├── pbstream_to_ros_map_main.cc │ ├── playable_bag.cc │ ├── playable_bag.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 │ ├── rosbag_validate_main.cc │ ├── sensor_bridge.cc │ ├── sensor_bridge.h │ ├── submap.cc │ ├── submap.h │ ├── tf_bridge.cc │ ├── tf_bridge.h │ ├── time_conversion.cc │ ├── time_conversion.h │ ├── time_conversion_test.cc │ ├── 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 ├── launch │ ├── assets_writer_backpack_2d.launch │ ├── assets_writer_backpack_3d.launch │ ├── assets_writer_ros_map.launch │ ├── backpack_2d.launch │ ├── backpack_3d.launch │ ├── demo_backpack_2d.launch │ ├── demo_backpack_2d_localization.launch │ ├── demo_backpack_3d.launch │ ├── demo_backpack_3d_localization.launch │ ├── demo_pr2.launch │ ├── demo_revo_lds.launch │ ├── demo_taurob_tracker.launch │ ├── grpc_demo_backpack_2d.launch │ ├── grpc_demo_backpack_2d_localization.launch │ ├── offline_backpack_2d.launch │ ├── offline_backpack_3d.launch │ ├── offline_node.launch │ ├── taurob_tracker.launch │ └── visualize_pbstream.launch ├── package.xml ├── scripts │ ├── cartographer_grpc_server.sh │ ├── dev │ │ ├── compare_localization_to_offline_trajectory.sh │ │ └── publish_fake_random_landmarks.py │ ├── remove_leading_slashes.py │ └── tf_remove_frames.py └── urdf │ ├── backpack_2d.urdf │ └── backpack_3d.urdf ├── cartographer_ros_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── msg │ ├── BagfileProgress.msg │ ├── HistogramBucket.msg │ ├── LandmarkEntry.msg │ ├── LandmarkList.msg │ ├── Metric.msg │ ├── MetricFamily.msg │ ├── MetricLabel.msg │ ├── StatusCode.msg │ ├── StatusResponse.msg │ ├── SubmapEntry.msg │ ├── SubmapList.msg │ ├── SubmapTexture.msg │ └── TrajectoryStates.msg ├── package.xml └── srv │ ├── FinishTrajectory.srv │ ├── GetTrajectoryStates.srv │ ├── ReadMetrics.srv │ ├── StartTrajectory.srv │ ├── SubmapQuery.srv │ ├── TrajectoryQuery.srv │ └── WriteState.srv ├── cartographer_rviz ├── CHANGELOG.rst ├── CMakeLists.txt ├── cartographer_rviz │ ├── .clang-format │ ├── drawable_submap.cc │ ├── drawable_submap.h │ ├── ogre_slice.cc │ ├── ogre_slice.h │ ├── submaps_display.cc │ └── submaps_display.h ├── ogre_media │ └── materials │ │ ├── glsl120 │ │ ├── glsl120.program │ │ ├── submap.frag │ │ └── submap.vert │ │ └── scripts │ │ └── submap.material ├── package.xml └── rviz_plugin_description.xml ├── docs ├── CMakeLists.txt └── source │ ├── algo_walkthrough.rst │ ├── assets_writer.rst │ ├── compilation.rst │ ├── conf.py │ ├── configuration.rst │ ├── data.rst │ ├── demo_2d.gif │ ├── demos.rst │ ├── faq.rst │ ├── frames_demo_2d.jpg │ ├── getting_involved.rst │ ├── going_further.rst │ ├── index.rst │ ├── nodes_graph_demo_2d.jpg │ ├── point_cloud_viewer_demo_3d.jpg │ ├── ros_api.rst │ ├── tuning.rst │ └── your_bag.rst └── scripts ├── build_docker.sh ├── catkin_test_results.sh ├── check_access_token.sh ├── install.sh ├── install_debs.sh ├── load_docker_cache.sh ├── 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