README.md

karto_scan_matcher

A C++ library that wraps Karto's laser scan matcher without loop closure.

How to use on Ubuntu?

1. This package has been tested well on Ubuntu 16.04 LTS, and the version of ROS is kinetic.

2. Clone and catkin_make
    $ cd ~/catkin_ws/src/
    $ git clone https://github.com/nkuwenjian/karto_scan_matcher.git
    $ cd ..
    $ catkin_make -j4

3. Run offline rosbag
    $ roslaunch karto_scan_matcher demo.launch
    $ rosbag play <rosbagfile> --clock

Topics

Subscribed topics

• /scan (sensor_msgs/LaserScan)
• /tf (tf2_msgs/TFMessage)

Published topics

• /map (nav_msgs/OccupancyGrid)
• /map_metadata (nav_msgs/MapMetaData)
• /tf (tf2_msgs/TFMessage)

Thanks

[1] https://github.com/ros-perception/open_karto

[2] https://github.com/ros-perception/slam_karto