slam karto (ROS 2)

This is ROS 2 version pkg for slam_karto.
The original repo (ROS 1) was developed by OSRF team.

The original version needs dependency: open_karto
However, in order to decrease the complicility of compilation in ament env,
we mergered open_karto into slam_karto for ROS 2 version.

original repo

• slam_karto: https://github.com/ros-perception/slam_karto
• open_karto: https://github.com/ros-perception/open_karto

Developer

• HaoChih, LIN (haochih.lin@adlinktech.com)

License

LGPL License (adhere to the original slam_karto & open_karto pkg)

Dependency

• sparse_bundle_adjustment (ROS 2 version)
  $ git clone https://github.com/Adlink-ROS/sparse_bundle_adjustment_ros2
  $ ament build --isolated --build-tests --symlink-install --only sparse_bundle_adjustment

Compile

$ cd ~/ros2_ws
$ ament build --only-packages slam_karto

For isolated build
$ ament build --isolated --symlink-install --only slam_karto

Execute

$ ros2 run slam_karto slam_karto

Visualization

Currently, rviz2 doesn't support "nav_msgs/MapMetaData", hence, you can use ros1_bridge to see the result in ROS 1 rviz.
$ ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics

Roadmap

• Remove Boost dependency
• Add parameter service
• Add use_sim_time support