ROS Melodic Cartographer SLAM Demo On Nvidia Jetson Nano

" Developed by Google, Cartographer is an open-source library used for real-time simultaneous localization and mapping (SLAM). Using LIDAR data, it generates submaps which are later optimized and scan-matched to provide real-time loop closure. As a result, Cartographer is able to successfully close loops and generate a consistent map each time whereas Gmapping can occasionally fail to do so, resulting in unique maps generated after every iteration. A variety of sensor configurations are supported allowing Cartographer to be used for a broad range of applications."

the first thing to do is to install ros on your nvidia jetson. You can do this by following the steps listed on this website. I think it's very simple and easy

https://titanwolf.org/Network/Articles/Article?AID=cf9173c0-7c80-4e9b-b637-c6244994f0bc

after the installation is successful you can follow this step

To get started with 2-D SLAM using Google Cartographer, clone this repository into your working directory:

git clone http://github.com/ridgeback/ridgeback_cartographer_navigation.git

Install the following ROS packages:

sudo apt-get install ros-melodic-ridgeback-* ros-melodic-cartographer-ros

then open 3 new terminals and each one has entered the directory so run this function.

Terminal 1

roslaunch ridgeback_gazebo ridgeback_world.launch config:=dual_sick_lasers

Terminal 2

roslaunch ridgeback_cartographer_navigation cartographer_demo.launch

Terminal 3

roslaunch ridgeback_viz view_robot.launch

by adding some functions to visualize mapping such as map and LaserScan on Rviz it will look like this

then direct the robot around important areas and points so that you get a map like the following: