We use cartographer to make 2D occupancy grid map
Download the .bag file from from link to file 1 link to file 2.
If you want any other sequences than KITTI odometry 05, you can use kitti2bag to turn any raw KITTI dataset into a ROS bag file.
docker build -t slam:cartographer
# Open 2 terminals, each terminal should run the code below
docker run -it -e "DISPLAY=$DISPLAY" -e "QT_X11_NO_MITSHM=1" -e "XAUTHORITY=$XAUTH" -v "/tmp/.X11-unix:/tmp/.X11-unix:rw" -v ${PWD}/:/data --net=host --ipc=host --privileged slam:cartographer
# Inside the first container
roslaunch cartographer_ros velodyne_kitti_uamc.launch
# Inside the second container
rosbag play /data/2011_09_30_0018.bag
rosrun map_server map_saver -f /data/map
Special thanks to Juwon Jason Kim