Cartographer ROS Integration (Jetpack5)

This repository is a fork of Cartographer ROS.
It has been adapted specifically for ROS 2 Humble running on JetPack 5 Docker containers.

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🧩 Build from Source

1. Install dependencies

Follow the official Cartographer installation guide to install all required libraries (e.g., Ceres Solver, Eigen3, Lua, glog, protobuf, etc.).

2. Create a ROS 2 workspace

mkdir -p <workspace-dir>/src
cd <workspace-dir>

3. Clone repositories

cd src
git clone https://github.com/ros2/cartographer_ros.git
git clone https://github.com/leidZhang/cartographer_ros.git

If needed, also clone perception_pcl (use the humble branch):

git clone -b humble https://github.com/ros-perception/perception_pcl.git

4. Install ROS dependencies

sudo rosdep init   # (skip if already initialized)
rosdep update
rosdep install --from-paths src --ignore-src -r -y

5. Build the workspace

colcon build --symlink-install

⚠️ Common Issues & Fixes

1. Missing .cmake files for glog

If FindGlog.cmake or other CMake files are missing, build glog v0.6.0 from source:

wget https://github.com/google/glog/archive/refs/tags/v0.6.0.tar.gz
tar -xvzf v0.6.0.tar.gz
cd glog-0.6.0

mkdir build && cd build
cmake ..
make -j$(nproc)
sudo make install

Or run the scripts/prepare_glog_cmake.sh if you already have glog installed.

2. Ceres Solver incompatible with glog

Build Ceres Solver 1.14.x from source for compatibility:

git clone -b 1.14.x https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver && mkdir build && cd build
cmake ..
make -j$(nproc)
sudo make install

3. pcl_conversions build error

Ensure the perception_pcl repository is checked out to the humble branch: