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Using YDLIDAR X2 with Google Cartographer ROS package

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Depreciation notice

This code won't be maintained, and likely will not work anymore. I'm leaving this on GitHub in case anyone still finds value in it.

YDLIDAR X2 - Cartographer project

This project was used to create a demonstrator of using YDLIDAR X2 with Google Cartographer as described in this blog post.

Quickstart (Melodic only)

  1. Clone the repo as your src directory git clone [email protected]:msadowski/x2_cartographer.git
  2. Initialize and update submodules git submodule update --init
  3. Perform the setup described in ydlidar/README.md
  4. If you don't have cartographer installed run rosdep install --from-paths src --ignore-src --rosdistro melodic -r -y from your workspace
  5. Source your workspace source devel/setup.bash
  6. Start everything: roslaunch carto_mapper mapper.launch

The files in this repository are provided as is. No support is guaranteed but if you find ways to improve it feel free to open a pull request.

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Using YDLIDAR X2 with Google Cartographer ROS package

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