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NOTE: From ROS Hydro functionality of this package is migrated into slam_karto.

Warning, this documentation is not stable

Hardware Requirements

To use karto, you need a mobile robot that provides odometry data and is equipped with a horizontally-mounted, fixed, laser range-finder. The karto node will attempt to transform each incoming scan into the odom (odometry) tf frame. See the "Required tf transforms" for more on required transforms.

Building Karto in a stand-alone mode

Karto uses cmake(like ros) to build itself. To build Karto:

mkdir build
cd build
cmake -G \"Unix Makefiles\" ..

You should see something like that (short version):

[  1%] Building CXX object Karto.cpp.o
[  1%] Building CXX object Mapper.cpp.o
Linking CXX shared library ../lib/libOpenKarto_32.dylib
[  1%] Built target OpenKarto
[ 53%] Built target proj
[ 73%] Built target csparse
[ 74%] Built target spa2d
Linking CXX shared library ../lib/libKarto_32.dylib
[ 98%] Built target Karto
[ 98%] Building CXX object tutorial1.cpp.o
Linking CXX executable ../bin/OpenKarto_Tutorial1
[ 98%] Built target OpenKarto_Tutorial1
[ 98%] Building CXX object tutorial2.cpp.o
[100%] Building CXX object SpaSolver.cpp.o
Linking CXX executable ../bin/OpenKarto_Tutorial2
[100%] Built target OpenKarto_Tutorial2

In the bin directory, you should have both tutorials built and in the lib directory you should have libOpenKarto_32.so


  1. How to use Karto stand-alone (tutorial1.cpp)

    This tutorial presents how to create a localized range scan

  2. How to activate loop closure optimization (tutorial2.cpp)

    This tutorial describe how to set the internal solver inside Karto to activate the loop closure mechanism. It's based on the file tutorial2.cpp


2024-07-13 13:17