ROS2 Mapping Libraries

• SLAM Gmapping
• Hector SLAM
  • Published by TU Darmstadt in 2011
  • It performs fast online learning of occupancy Grid Maps.
  • Low computational resources.
  • Uses Lidar and IMU data, but no odometry.
  • SLAM without Loop closure.
  • Link: http://wiki.ros.org/hector_slam
• Cartographer
  • Published by Google Research in 2016.
  • It works with a variety of sensor configurations (e.g. Lidar, IMU, cameras).
  • It implements the scan matching algorithm.
  • It performs local and global SLAM (Loop closure).
  • Link: http://wiki.ros.org/cartographer
• SLAM Toolbox
  • Published by Steve Macenski et al. in 2021 and is currently the supported ROS localization and mapping package.
  • Maps large and dynamic spaces.
  • Able to continue mapping from prior sessions.
  • Implements Loop closure.
  • Link: http://wiki.ros.org/slam_toolbox