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Repo symbol

cartographer repository

cartographer

Repository Summary

Checkout URI https://github.com/ros2/cartographer.git
VCS Type git
VCS Version ros2
Last Updated 2025-05-20
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer 2.0.9004

README

Cartographer

Build Status Documentation Status Apache 2 license.

Purpose

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Cartographer 3D SLAM Demo

Getting started

Contributing

You can find information about contributing to Cartographer at our Contribution page.

Open house slide archive

In the past there had been regular open-for-all meetings to discuss progress and plans for Cartographer. Slides of these Cartographer Open House meetings are listed below.

CONTRIBUTING

Want to contribute? Great! First, read this page.

Before you contribute

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Developer Certificate of Origin

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO). You can sign-off a commit via git commit -s.

Code reviews

All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Make sure you’ve read, understood and considered all the points below before creating your PR.

Style guide

C++ code should adhere to the Google C++ Style Guide. You can handle the formatting part of the style guide via git clang-format.

Best practices

When preparing your PR and also during the code review make sure to follow best practices. Most importantly, keep your PR under 200 lines of code and address a single concern.

Testing

  • Add unit tests and documentation (these do not count toward your 200 lines).
  • Run ninja test or catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test as appropriate.
  • Keep rebasing (or merging) of master branch to a minimum. It triggers Travis runs for every update which blocks merging of other changes.
Want to contribute? Great! First, read this page. ### Before you contribute Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0): ``` 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ``` ### Developer Certificate of Origin Contributors must sign-off each commit by adding a `Signed-off-by: ...` line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the [Developer Certificate of Origin (DCO)](https://developercertificate.org/). You can sign-off a commit via `git commit -s`. ### Code reviews All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Make sure you've read, understood and considered all the points below before creating your PR. #### Style guide C++ code should adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html). You can handle the formatting part of the style guide via `git clang-format`. #### Best practices When preparing your PR and also during the code review make sure to follow [best practices](https://google.github.io/eng-practices/review/developer/). Most importantly, keep your PR under 200 lines of code and address a single concern. #### Testing - Add unit tests and documentation (these do not count toward your 200 lines). - Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate. - Keep rebasing (or merging) of master branch to a minimum. It triggers Travis runs for every update which blocks merging of other changes.
Repo symbol

cartographer repository

cartographer

Repository Summary

Checkout URI https://github.com/ros2/cartographer.git
VCS Type git
VCS Version ros2
Last Updated 2025-05-20
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer 2.0.9004

README

Cartographer

Build Status Documentation Status Apache 2 license.

Purpose

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Cartographer 3D SLAM Demo

Getting started

Contributing

You can find information about contributing to Cartographer at our Contribution page.

Open house slide archive

In the past there had been regular open-for-all meetings to discuss progress and plans for Cartographer. Slides of these Cartographer Open House meetings are listed below.

CONTRIBUTING

Want to contribute? Great! First, read this page.

Before you contribute

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Developer Certificate of Origin

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO). You can sign-off a commit via git commit -s.

Code reviews

All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Make sure you’ve read, understood and considered all the points below before creating your PR.

Style guide

C++ code should adhere to the Google C++ Style Guide. You can handle the formatting part of the style guide via git clang-format.

Best practices

When preparing your PR and also during the code review make sure to follow best practices. Most importantly, keep your PR under 200 lines of code and address a single concern.

Testing

  • Add unit tests and documentation (these do not count toward your 200 lines).
  • Run ninja test or catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test as appropriate.
  • Keep rebasing (or merging) of master branch to a minimum. It triggers Travis runs for every update which blocks merging of other changes.
Want to contribute? Great! First, read this page. ### Before you contribute Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0): ``` 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ``` ### Developer Certificate of Origin Contributors must sign-off each commit by adding a `Signed-off-by: ...` line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the [Developer Certificate of Origin (DCO)](https://developercertificate.org/). You can sign-off a commit via `git commit -s`. ### Code reviews All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Make sure you've read, understood and considered all the points below before creating your PR. #### Style guide C++ code should adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html). You can handle the formatting part of the style guide via `git clang-format`. #### Best practices When preparing your PR and also during the code review make sure to follow [best practices](https://google.github.io/eng-practices/review/developer/). Most importantly, keep your PR under 200 lines of code and address a single concern. #### Testing - Add unit tests and documentation (these do not count toward your 200 lines). - Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate. - Keep rebasing (or merging) of master branch to a minimum. It triggers Travis runs for every update which blocks merging of other changes.
Repo symbol

cartographer repository

cartographer

Repository Summary

Checkout URI https://github.com/ros2/cartographer.git
VCS Type git
VCS Version ros2
Last Updated 2025-05-20
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer 2.0.9004

README

Cartographer

Build Status Documentation Status Apache 2 license.

Purpose

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Cartographer 3D SLAM Demo

Getting started

Contributing

You can find information about contributing to Cartographer at our Contribution page.

Open house slide archive

In the past there had been regular open-for-all meetings to discuss progress and plans for Cartographer. Slides of these Cartographer Open House meetings are listed below.

CONTRIBUTING

Want to contribute? Great! First, read this page.

Before you contribute

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Developer Certificate of Origin

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO). You can sign-off a commit via git commit -s.

Code reviews

All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Make sure you’ve read, understood and considered all the points below before creating your PR.

Style guide

C++ code should adhere to the Google C++ Style Guide. You can handle the formatting part of the style guide via git clang-format.

Best practices

When preparing your PR and also during the code review make sure to follow best practices. Most importantly, keep your PR under 200 lines of code and address a single concern.

Testing

  • Add unit tests and documentation (these do not count toward your 200 lines).
  • Run ninja test or catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test as appropriate.
  • Keep rebasing (or merging) of master branch to a minimum. It triggers Travis runs for every update which blocks merging of other changes.
Want to contribute? Great! First, read this page. ### Before you contribute Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0): ``` 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ``` ### Developer Certificate of Origin Contributors must sign-off each commit by adding a `Signed-off-by: ...` line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the [Developer Certificate of Origin (DCO)](https://developercertificate.org/). You can sign-off a commit via `git commit -s`. ### Code reviews All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Make sure you've read, understood and considered all the points below before creating your PR. #### Style guide C++ code should adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html). You can handle the formatting part of the style guide via `git clang-format`. #### Best practices When preparing your PR and also during the code review make sure to follow [best practices](https://google.github.io/eng-practices/review/developer/). Most importantly, keep your PR under 200 lines of code and address a single concern. #### Testing - Add unit tests and documentation (these do not count toward your 200 lines). - Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate. - Keep rebasing (or merging) of master branch to a minimum. It triggers Travis runs for every update which blocks merging of other changes.
Repo symbol

cartographer repository

cartographer

Repository Summary

Checkout URI https://github.com/ros2/cartographer.git
VCS Type git
VCS Version ros2
Last Updated 2025-05-20
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer 2.0.9004

README

Cartographer

Build Status Documentation Status Apache 2 license.

Purpose

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Cartographer 3D SLAM Demo

Getting started

Contributing

You can find information about contributing to Cartographer at our Contribution page.

Open house slide archive

In the past there had been regular open-for-all meetings to discuss progress and plans for Cartographer. Slides of these Cartographer Open House meetings are listed below.

CONTRIBUTING

Want to contribute? Great! First, read this page.

Before you contribute

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Developer Certificate of Origin

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO). You can sign-off a commit via git commit -s.

Code reviews

All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Make sure you’ve read, understood and considered all the points below before creating your PR.

Style guide

C++ code should adhere to the Google C++ Style Guide. You can handle the formatting part of the style guide via git clang-format.

Best practices

When preparing your PR and also during the code review make sure to follow best practices. Most importantly, keep your PR under 200 lines of code and address a single concern.

Testing

  • Add unit tests and documentation (these do not count toward your 200 lines).
  • Run ninja test or catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test as appropriate.
  • Keep rebasing (or merging) of master branch to a minimum. It triggers Travis runs for every update which blocks merging of other changes.
Want to contribute? Great! First, read this page. ### Before you contribute Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0): ``` 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ``` ### Developer Certificate of Origin Contributors must sign-off each commit by adding a `Signed-off-by: ...` line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the [Developer Certificate of Origin (DCO)](https://developercertificate.org/). You can sign-off a commit via `git commit -s`. ### Code reviews All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Make sure you've read, understood and considered all the points below before creating your PR. #### Style guide C++ code should adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html). You can handle the formatting part of the style guide via `git clang-format`. #### Best practices When preparing your PR and also during the code review make sure to follow [best practices](https://google.github.io/eng-practices/review/developer/). Most importantly, keep your PR under 200 lines of code and address a single concern. #### Testing - Add unit tests and documentation (these do not count toward your 200 lines). - Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate. - Keep rebasing (or merging) of master branch to a minimum. It triggers Travis runs for every update which blocks merging of other changes.
Repo symbol

cartographer repository

cartographer

Repository Summary

Checkout URI https://github.com/ros2/cartographer.git
VCS Type git
VCS Version ardent
Last Updated 2017-12-09
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer 2.0.0

README

Cartographer

Build Status Documentation Status Apache 2 license.

Purpose

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Cartographer 3D SLAM Demo

Getting started

Contributing

You can find information about contributing to Cartographer at our Contribution page.

CONTRIBUTING

Want to contribute? Great! First, read this page (including the small print at the end).

Before you contribute

Before we can use your code, you must sign the [Google Individual Contributor License Agreement] (https://cla.developers.google.com/about/google-individual) (CLA), which you can do online. The CLA is necessary mainly because you own the copyright to your changes, even after your contribution becomes part of our codebase, so we need your permission to use and distribute your code. We also need to be sure of various other things—for instance that you’ll tell us if you know that your code infringes on other people’s patents. You don’t have to sign the CLA until after you’ve submitted your code for review and a member has approved it, but you must do it before we can put your code into our codebase. Before you start working on a larger contribution, you should get in touch with us first through the issue tracker with your idea so that we can help out and possibly guide you. Coordinating up front makes it much easier to avoid frustration later on.

Code reviews

All submissions, including submissions by project members, require review. We use Github pull requests for this purpose.

The small print

Contributions made by corporations are covered by a different agreement than the one above, the [Software Grant and Corporate Contributor License Agreement] (https://cla.developers.google.com/about/google-corporate).

Want to contribute? Great! First, read this page (including the small print at the end). ### Before you contribute Before we can use your code, you must sign the [Google Individual Contributor License Agreement] (https://cla.developers.google.com/about/google-individual) (CLA), which you can do online. The CLA is necessary mainly because you own the copyright to your changes, even after your contribution becomes part of our codebase, so we need your permission to use and distribute your code. We also need to be sure of various other things—for instance that you'll tell us if you know that your code infringes on other people's patents. You don't have to sign the CLA until after you've submitted your code for review and a member has approved it, but you must do it before we can put your code into our codebase. Before you start working on a larger contribution, you should get in touch with us first through the issue tracker with your idea so that we can help out and possibly guide you. Coordinating up front makes it much easier to avoid frustration later on. ### Code reviews All submissions, including submissions by project members, require review. We use Github pull requests for this purpose. ### The small print Contributions made by corporations are covered by a different agreement than the one above, the [Software Grant and Corporate Contributor License Agreement] (https://cla.developers.google.com/about/google-corporate).
Repo symbol

cartographer repository

cartographer

Repository Summary

Checkout URI https://github.com/ros2/cartographer.git
VCS Type git
VCS Version bouncy
Last Updated 2018-06-15
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer 2.1.0

README

Cartographer

Build Status Documentation Status Apache 2 license.

Purpose

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Cartographer 3D SLAM Demo

Open house

We regularly meet in an open-for-all Google hangout to discuss progress and plans for Cartographer.

The next Cartographer Open House Hangout is on Thursday, November 23, 5pm CET (8am PT) [Hangouts link].

Getting started

Contributing

You can find information about contributing to Cartographer at our Contribution page.

CONTRIBUTING

Want to contribute? Great! First, read this page (including the small print at the end).

Before you contribute

Before we can use your code, you must sign the [Google Individual Contributor License Agreement] (https://cla.developers.google.com/about/google-individual) (CLA), which you can do online. The CLA is necessary mainly because you own the copyright to your changes, even after your contribution becomes part of our codebase, so we need your permission to use and distribute your code. We also need to be sure of various other things—for instance that you’ll tell us if you know that your code infringes on other people’s patents. You don’t have to sign the CLA until after you’ve submitted your code for review and a member has approved it, but you must do it before we can put your code into our codebase. Before you start working on a larger contribution, you should get in touch with us first through the issue tracker with your idea so that we can help out and possibly guide you. Coordinating up front makes it much easier to avoid frustration later on.

Code reviews

All submissions, including submissions by project members, require review. We use Github pull requests for this purpose.

The small print

Contributions made by corporations are covered by a different agreement than the one above, the [Software Grant and Corporate Contributor License Agreement] (https://cla.developers.google.com/about/google-corporate).

Want to contribute? Great! First, read this page (including the small print at the end). ### Before you contribute Before we can use your code, you must sign the [Google Individual Contributor License Agreement] (https://cla.developers.google.com/about/google-individual) (CLA), which you can do online. The CLA is necessary mainly because you own the copyright to your changes, even after your contribution becomes part of our codebase, so we need your permission to use and distribute your code. We also need to be sure of various other things—for instance that you'll tell us if you know that your code infringes on other people's patents. You don't have to sign the CLA until after you've submitted your code for review and a member has approved it, but you must do it before we can put your code into our codebase. Before you start working on a larger contribution, you should get in touch with us first through the issue tracker with your idea so that we can help out and possibly guide you. Coordinating up front makes it much easier to avoid frustration later on. ### Code reviews All submissions, including submissions by project members, require review. We use Github pull requests for this purpose. ### The small print Contributions made by corporations are covered by a different agreement than the one above, the [Software Grant and Corporate Contributor License Agreement] (https://cla.developers.google.com/about/google-corporate).
Repo symbol

cartographer repository

cartographer

Repository Summary

Checkout URI https://github.com/ros2/cartographer.git
VCS Type git
VCS Version ros2
Last Updated 2025-05-20
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer 2.0.9004

README

Cartographer

Build Status Documentation Status Apache 2 license.

Purpose

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Cartographer 3D SLAM Demo

Getting started

Contributing

You can find information about contributing to Cartographer at our Contribution page.

Open house slide archive

In the past there had been regular open-for-all meetings to discuss progress and plans for Cartographer. Slides of these Cartographer Open House meetings are listed below.

CONTRIBUTING

Want to contribute? Great! First, read this page.

Before you contribute

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Developer Certificate of Origin

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO). You can sign-off a commit via git commit -s.

Code reviews

All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Make sure you’ve read, understood and considered all the points below before creating your PR.

Style guide

C++ code should adhere to the Google C++ Style Guide. You can handle the formatting part of the style guide via git clang-format.

Best practices

When preparing your PR and also during the code review make sure to follow best practices. Most importantly, keep your PR under 200 lines of code and address a single concern.

Testing

  • Add unit tests and documentation (these do not count toward your 200 lines).
  • Run ninja test or catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test as appropriate.
  • Keep rebasing (or merging) of master branch to a minimum. It triggers Travis runs for every update which blocks merging of other changes.
Want to contribute? Great! First, read this page. ### Before you contribute Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0): ``` 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ``` ### Developer Certificate of Origin Contributors must sign-off each commit by adding a `Signed-off-by: ...` line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the [Developer Certificate of Origin (DCO)](https://developercertificate.org/). You can sign-off a commit via `git commit -s`. ### Code reviews All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Make sure you've read, understood and considered all the points below before creating your PR. #### Style guide C++ code should adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html). You can handle the formatting part of the style guide via `git clang-format`. #### Best practices When preparing your PR and also during the code review make sure to follow [best practices](https://google.github.io/eng-practices/review/developer/). Most importantly, keep your PR under 200 lines of code and address a single concern. #### Testing - Add unit tests and documentation (these do not count toward your 200 lines). - Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate. - Keep rebasing (or merging) of master branch to a minimum. It triggers Travis runs for every update which blocks merging of other changes.
Repo symbol

cartographer repository

cartographer

Repository Summary

Checkout URI https://github.com/ros2/cartographer.git
VCS Type git
VCS Version ros2
Last Updated 2025-05-20
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer 2.0.9004

README

Cartographer

Build Status Documentation Status Apache 2 license.

Purpose

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Cartographer 3D SLAM Demo

Getting started

Contributing

You can find information about contributing to Cartographer at our Contribution page.

Open house slide archive

In the past there had been regular open-for-all meetings to discuss progress and plans for Cartographer. Slides of these Cartographer Open House meetings are listed below.

CONTRIBUTING

Want to contribute? Great! First, read this page.

Before you contribute

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Developer Certificate of Origin

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO). You can sign-off a commit via git commit -s.

Code reviews

All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Make sure you’ve read, understood and considered all the points below before creating your PR.

Style guide

C++ code should adhere to the Google C++ Style Guide. You can handle the formatting part of the style guide via git clang-format.

Best practices

When preparing your PR and also during the code review make sure to follow best practices. Most importantly, keep your PR under 200 lines of code and address a single concern.

Testing

  • Add unit tests and documentation (these do not count toward your 200 lines).
  • Run ninja test or catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test as appropriate.
  • Keep rebasing (or merging) of master branch to a minimum. It triggers Travis runs for every update which blocks merging of other changes.
Want to contribute? Great! First, read this page. ### Before you contribute Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0): ``` 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ``` ### Developer Certificate of Origin Contributors must sign-off each commit by adding a `Signed-off-by: ...` line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the [Developer Certificate of Origin (DCO)](https://developercertificate.org/). You can sign-off a commit via `git commit -s`. ### Code reviews All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Make sure you've read, understood and considered all the points below before creating your PR. #### Style guide C++ code should adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html). You can handle the formatting part of the style guide via `git clang-format`. #### Best practices When preparing your PR and also during the code review make sure to follow [best practices](https://google.github.io/eng-practices/review/developer/). Most importantly, keep your PR under 200 lines of code and address a single concern. #### Testing - Add unit tests and documentation (these do not count toward your 200 lines). - Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate. - Keep rebasing (or merging) of master branch to a minimum. It triggers Travis runs for every update which blocks merging of other changes.
Repo symbol

cartographer repository

cartographer

Repository Summary

Checkout URI https://github.com/ros2/cartographer.git
VCS Type git
VCS Version ros2
Last Updated 2025-05-20
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer 2.0.9004

README

Cartographer

Build Status Documentation Status Apache 2 license.

Purpose

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Cartographer 3D SLAM Demo

Getting started

Contributing

You can find information about contributing to Cartographer at our Contribution page.

Open house slide archive

In the past there had been regular open-for-all meetings to discuss progress and plans for Cartographer. Slides of these Cartographer Open House meetings are listed below.

CONTRIBUTING

Want to contribute? Great! First, read this page.

Before you contribute

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Developer Certificate of Origin

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO). You can sign-off a commit via git commit -s.

Code reviews

All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Make sure you’ve read, understood and considered all the points below before creating your PR.

Style guide

C++ code should adhere to the Google C++ Style Guide. You can handle the formatting part of the style guide via git clang-format.

Best practices

When preparing your PR and also during the code review make sure to follow best practices. Most importantly, keep your PR under 200 lines of code and address a single concern.

Testing

  • Add unit tests and documentation (these do not count toward your 200 lines).
  • Run ninja test or catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test as appropriate.
  • Keep rebasing (or merging) of master branch to a minimum. It triggers Travis runs for every update which blocks merging of other changes.
Want to contribute? Great! First, read this page. ### Before you contribute Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0): ``` 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ``` ### Developer Certificate of Origin Contributors must sign-off each commit by adding a `Signed-off-by: ...` line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the [Developer Certificate of Origin (DCO)](https://developercertificate.org/). You can sign-off a commit via `git commit -s`. ### Code reviews All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Make sure you've read, understood and considered all the points below before creating your PR. #### Style guide C++ code should adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html). You can handle the formatting part of the style guide via `git clang-format`. #### Best practices When preparing your PR and also during the code review make sure to follow [best practices](https://google.github.io/eng-practices/review/developer/). Most importantly, keep your PR under 200 lines of code and address a single concern. #### Testing - Add unit tests and documentation (these do not count toward your 200 lines). - Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate. - Keep rebasing (or merging) of master branch to a minimum. It triggers Travis runs for every update which blocks merging of other changes.
Repo symbol

cartographer repository

cartographer

Repository Summary

Checkout URI https://github.com/ros2/cartographer.git
VCS Type git
VCS Version foxy
Last Updated 2020-05-29
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer 1.0.9001

README

Cartographer

Build Status Documentation Status Apache 2 license.

Purpose

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Cartographer 3D SLAM Demo

Getting started

Open house

We regularly meet in an open-for-all Google hangout to discuss progress and plans for Cartographer. You can join the mailing list to receive announcements.

The next Cartographer Open House Hangout is on Thursday, May 24, 5pm CEST (8am PT) [Hangouts link].

Contributing

You can find information about contributing to Cartographer at our Contribution page.

CONTRIBUTING

Want to contribute? Great! First, read this page (including the small print at the end).

Before you contribute

Before we can use your code, you must sign the [Google Individual Contributor License Agreement] (https://cla.developers.google.com/about/google-individual) (CLA), which you can do online. The CLA is necessary mainly because you own the copyright to your changes, even after your contribution becomes part of our codebase, so we need your permission to use and distribute your code. We also need to be sure of various other things—for instance that you’ll tell us if you know that your code infringes on other people’s patents. You don’t have to sign the CLA until after you’ve submitted your code for review and a member has approved it, but you must do it before we can put your code into our codebase. Before you start working on a larger contribution, you should get in touch with us first through the issue tracker with your idea so that we can help out and possibly guide you. Coordinating up front makes it much easier to avoid frustration later on.

Code reviews

All submissions, including submissions by project members, require review. We use Github pull requests for this purpose.

The small print

Contributions made by corporations are covered by a different agreement than the one above, the [Software Grant and Corporate Contributor License Agreement] (https://cla.developers.google.com/about/google-corporate).

Want to contribute? Great! First, read this page (including the small print at the end). ### Before you contribute Before we can use your code, you must sign the [Google Individual Contributor License Agreement] (https://cla.developers.google.com/about/google-individual) (CLA), which you can do online. The CLA is necessary mainly because you own the copyright to your changes, even after your contribution becomes part of our codebase, so we need your permission to use and distribute your code. We also need to be sure of various other things—for instance that you'll tell us if you know that your code infringes on other people's patents. You don't have to sign the CLA until after you've submitted your code for review and a member has approved it, but you must do it before we can put your code into our codebase. Before you start working on a larger contribution, you should get in touch with us first through the issue tracker with your idea so that we can help out and possibly guide you. Coordinating up front makes it much easier to avoid frustration later on. ### Code reviews All submissions, including submissions by project members, require review. We use Github pull requests for this purpose. ### The small print Contributions made by corporations are covered by a different agreement than the one above, the [Software Grant and Corporate Contributor License Agreement] (https://cla.developers.google.com/about/google-corporate).
Repo symbol

cartographer repository

cartographer

Repository Summary

Checkout URI https://github.com/ros2/cartographer.git
VCS Type git
VCS Version foxy
Last Updated 2020-05-29
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer 1.0.9001

README

Cartographer

Build Status Documentation Status Apache 2 license.

Purpose

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Cartographer 3D SLAM Demo

Getting started

Open house

We regularly meet in an open-for-all Google hangout to discuss progress and plans for Cartographer. You can join the mailing list to receive announcements.

The next Cartographer Open House Hangout is on Thursday, May 24, 5pm CEST (8am PT) [Hangouts link].

Contributing

You can find information about contributing to Cartographer at our Contribution page.

CONTRIBUTING

Want to contribute? Great! First, read this page (including the small print at the end).

Before you contribute

Before we can use your code, you must sign the [Google Individual Contributor License Agreement] (https://cla.developers.google.com/about/google-individual) (CLA), which you can do online. The CLA is necessary mainly because you own the copyright to your changes, even after your contribution becomes part of our codebase, so we need your permission to use and distribute your code. We also need to be sure of various other things—for instance that you’ll tell us if you know that your code infringes on other people’s patents. You don’t have to sign the CLA until after you’ve submitted your code for review and a member has approved it, but you must do it before we can put your code into our codebase. Before you start working on a larger contribution, you should get in touch with us first through the issue tracker with your idea so that we can help out and possibly guide you. Coordinating up front makes it much easier to avoid frustration later on.

Code reviews

All submissions, including submissions by project members, require review. We use Github pull requests for this purpose.

The small print

Contributions made by corporations are covered by a different agreement than the one above, the [Software Grant and Corporate Contributor License Agreement] (https://cla.developers.google.com/about/google-corporate).

Want to contribute? Great! First, read this page (including the small print at the end). ### Before you contribute Before we can use your code, you must sign the [Google Individual Contributor License Agreement] (https://cla.developers.google.com/about/google-individual) (CLA), which you can do online. The CLA is necessary mainly because you own the copyright to your changes, even after your contribution becomes part of our codebase, so we need your permission to use and distribute your code. We also need to be sure of various other things—for instance that you'll tell us if you know that your code infringes on other people's patents. You don't have to sign the CLA until after you've submitted your code for review and a member has approved it, but you must do it before we can put your code into our codebase. Before you start working on a larger contribution, you should get in touch with us first through the issue tracker with your idea so that we can help out and possibly guide you. Coordinating up front makes it much easier to avoid frustration later on. ### Code reviews All submissions, including submissions by project members, require review. We use Github pull requests for this purpose. ### The small print Contributions made by corporations are covered by a different agreement than the one above, the [Software Grant and Corporate Contributor License Agreement] (https://cla.developers.google.com/about/google-corporate).
Repo symbol

cartographer repository

cartographer

Repository Summary

Checkout URI https://github.com/ros2/cartographer.git
VCS Type git
VCS Version ros2
Last Updated 2025-05-20
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
cartographer 2.0.9004

README

Cartographer

Build Status Documentation Status Apache 2 license.

Purpose

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Cartographer 3D SLAM Demo

Getting started

Contributing

You can find information about contributing to Cartographer at our Contribution page.

Open house slide archive

In the past there had been regular open-for-all meetings to discuss progress and plans for Cartographer. Slides of these Cartographer Open House meetings are listed below.

CONTRIBUTING

Want to contribute? Great! First, read this page.

Before you contribute

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Developer Certificate of Origin

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO). You can sign-off a commit via git commit -s.

Code reviews

All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Make sure you’ve read, understood and considered all the points below before creating your PR.

Style guide

C++ code should adhere to the Google C++ Style Guide. You can handle the formatting part of the style guide via git clang-format.

Best practices

When preparing your PR and also during the code review make sure to follow best practices. Most importantly, keep your PR under 200 lines of code and address a single concern.

Testing

  • Add unit tests and documentation (these do not count toward your 200 lines).
  • Run ninja test or catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test as appropriate.
  • Keep rebasing (or merging) of master branch to a minimum. It triggers Travis runs for every update which blocks merging of other changes.
Want to contribute? Great! First, read this page. ### Before you contribute Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0): ``` 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ``` ### Developer Certificate of Origin Contributors must sign-off each commit by adding a `Signed-off-by: ...` line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the [Developer Certificate of Origin (DCO)](https://developercertificate.org/). You can sign-off a commit via `git commit -s`. ### Code reviews All submissions, including submissions by project members, require review. We use GitHub pull requests for this purpose. Make sure you've read, understood and considered all the points below before creating your PR. #### Style guide C++ code should adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html). You can handle the formatting part of the style guide via `git clang-format`. #### Best practices When preparing your PR and also during the code review make sure to follow [best practices](https://google.github.io/eng-practices/review/developer/). Most importantly, keep your PR under 200 lines of code and address a single concern. #### Testing - Add unit tests and documentation (these do not count toward your 200 lines). - Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate. - Keep rebasing (or merging) of master branch to a minimum. It triggers Travis runs for every update which blocks merging of other changes.
Repo symbol

cartographer repository
Repo symbol

cartographer repository
Repo symbol

cartographer repository
Repo symbol

cartographer repository
Repo symbol

cartographer repository
Repo symbol

cartographer repository
Repo symbol

cartographer repository