Configuring the Catographer for Mapping with Carter Robot

Dear community,

I would like to create a map for the NVIDIA Carter robot using the Cartographer app provided by the Isaac SDK (2019.3).

As I understand from the documentation the provided sample does not support live mapping, but rather works on previously recorded logs of lidar data.

The configuration part tells me to change the log_cartographer.config.json, but this file does not exist in Isaac SDK 2019.3 and is not generated by the build/ deploy process.

  1. So how should I create this config-file and where should I store it?
  2. Or can I pass this information as parameters directly at startup?

Best regards,

Christoph

PS: As additional information, I am deploying the app on the Carter directly as my host computer does not have cuda-compatible GPU.