Only released in EOL distros:   electric fuerte groovy

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\" ..
make

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

Tutorials

Nodes