feat(slam): add cartographer_ros

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+.. Copyright 2016 The Cartographer Authors
+
+.. Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+..      http://www.apache.org/licenses/LICENSE-2.0
+
+.. Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+============
+Cartographer
+============
+
+.. toctree::
+   :maxdepth: 2
+   :hidden:
+
+   configuration
+   evaluation
+   terminology
+   cost_functions
+   pbstream_migration
+
+`Cartographer`_ is a system that provides real-time simultaneous localization
+and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor
+configurations.
+
+.. _Cartographer: https://github.com/cartographer-project/cartographer
+.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
+
+Technical Overview
+==================
+* High level system overview of Cartographer
+
+.. image:: high_level_system_overview.png
+     :target: https://github.com/cartographer-project/cartographer/blob/master/docs/source/high_level_system_overview.png
+
+.. To make modifications, edit the original Google Sketch and export a png.
+.. https://docs.google.com/drawings/d/1kCJ_dEbSvV83THCUfMikCPw7xFrTkrvRw5r6Ji8C90c/edit?usp=sharing
+
+Getting started
+===============
+
+Cartographer is a standalone C++ library. To get started quickly, use our `ROS
+<http://www.ros.org>`_ integration.
+
+Getting started with ROS
+------------------------
+
+ROS integration is provided by the `Cartographer ROS repository`_. You will find
+complete documentation for using Cartographer with ROS at the
+`Cartographer ROS Read the Docs site`_.
+
+.. _Cartographer ROS repository: https://github.com/cartographer-project/cartographer_ros
+.. _Cartographer ROS Read the Docs site: https://google-cartographer-ros.readthedocs.io
+
+Getting started without ROS
+---------------------------
+
+Please see our ROS integration as a starting point for integrating your system
+with the standalone library. Currently, it is the best available reference.
+
+On Ubuntu 18.04 (Bionic):
+
+.. literalinclude:: ../../scripts/install_debs_cmake.sh
+  :language: bash
+  :lines: 20-
+
+.. literalinclude:: ../../scripts/install_abseil.sh
+  :language: bash
+  :lines: 20-
+
+.. literalinclude:: ../../scripts/install_ceres.sh
+  :language: bash
+  :lines: 20-
+
+.. literalinclude:: ../../scripts/install_proto3.sh
+  :language: bash
+  :lines: 20-
+
+.. literalinclude:: ../../scripts/install_cartographer_cmake.sh
+  :language: bash
+  :lines: 20-
+
+.. _system-requirements:
+
+System Requirements
+===================
+
+Although Cartographer may run on other systems, it is confirmed to be working
+on systems that meet the following requirements:
+
+* 64-bit, modern CPU (e.g. 3rd generation i7)
+* 16 GB RAM
+* Ubuntu 18.04 (Bionic), 20.04 (Focal)
+* gcc version 6.3.0, 7.5.0, 9.3.0
+
+Known Issues
+------------
+
+* 32-bit builds have libeigen alignment problems which cause crashes and/or
+  memory corruptions.
+
+How to cite us
+==============
+
+Background about the algorithms developed for Cartographer can be found in the
+following publication. If you use Cartographer for your research, we would
+appreciate it if you cite our paper.
+
+W. Hess, D. Kohler, H. Rapp, and D. Andor,
+`Real-Time Loop Closure in 2D LIDAR SLAM`_, in
+*Robotics and Automation (ICRA), 2016 IEEE International Conference on*.
+IEEE, 2016. pp. 1271–1278.
+
+.. _Real-Time Loop Closure in 2D LIDAR SLAM: https://research.google.com/pubs/pub45466.html