Can I use only one Rplidar with Cartographer for slam ???

edit

You may use this

include "map_builder.lua"
include "trajectory_builder.lua"

options = {

map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "base_link",
published_frame = "base_link",
odom_frame = "odom",
provide_odom_frame = true,
use_odometry = false,
use_nav_sat = false,
use_landmarks = false,
publish_frame_projected_to_2d = false,
num_laser_scans = 1,
num_multi_echo_laser_scans = 0,
num_subdivisions_per_laser_scan = 1,
rangefinder_sampling_ratio = 1,
odometry_sampling_ratio = 1,
fixed_frame_pose_sampling_ratio = 1,
imu_sampling_ratio = 1,
landmarks_sampling_ratio = 1,
num_point_clouds = 0,
lookup_transform_timeout_sec = 0.2,
submap_publish_period_sec = 0.3,
pose_publish_period_sec = 5e-3,
trajectory_publish_period_sec = 30e-3,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.use_imu_data = false

TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true

POSE_GRAPH.optimization_problem.huber_scale = 1e2

return options

The source is here http://ardupilot.org/dev/docs/ros-car...