Our Nav2 WG has been using a ROS2 ported fork of cartographer_ros for doing SLAM.
@clalancette has been kindly keeping this updated but it is forked from the upstream cartographer_ros project, which doesn’t have a ros2 branch. My previous attempt to broach the subject there was this issue which basically boomeranged back to me to create an RFC and take it to the google cartographer Open House, which hasn’t met in 7 months, in order to get it approved and a ROS2 branch created. This is obviously a hassle, but I’d be potentially willing to do it, except it doesn’t look like that meeting is happening anymore and I’m not even sure that repo is being maintained anymore, based on the last commit having been back in May.
If anyone knows what is going on with cartographer and whether it is still being supported / maintained, I’d love to hear that.
BUT, based on what I’m seeing, I believe we need a well-supported, maintained SLAM for ROS2, and I’m opening the discussion here for suggestions as to who and what that should be going forward.