ros:cartographer

最新推荐文章于 2023-11-24 11:36:17 发布

IQIT

最新推荐文章于 2023-11-24 11:36:17 发布

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分类专栏： ros 文章标签： cartographer

本文链接：https://blog.youkuaiyun.com/qit1314/article/details/83990616

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本文详细介绍了如何在ROS环境中安装和配置Cartographer SLAM系统，并提供了运行示例数据和自定义数据集的步骤。从环境搭建到实际应用，涵盖安装依赖、编译源码、运行demo及自定义bag文件的全过程。

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1 安装

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
src/cartographer/scripts/install_proto3.sh
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html

2 跑cartographer提供的demo

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

运行的节点
在这里插入图片描述
运行的topic

/horizontal_laser_2d和/scan_matched_points2的类型如下图：

submap_list

trajactory_node_list

landmark_pose_list

constraint_list