可以参考我的中文博客 http://www.cnblogs.com/hitcm/
Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. This project provides Cartographer's ROS integration.
You will find complete documentation for using Cartographer with ROS at our Read the Docs site.
You can find information about contributing to Cartographer's ROS integration at our Contribution page.