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  • 实操 | Implementing Google's Open Source Slam "Cartographer" demos in ROS / rviz

    Cartographer is a backpack equipped with Simultaneous Localization and Mapping (SLAM) technology.

    IMG_20140808_161934-MOTION

    1. Platform

    Dell PC installed Ubuntu 14.4 and ROS Indigo.

    2. Building & Installation

    We recommend using wstool and rosdep. For faster builds, we also recommend using Ninja.

    # Install wstool and rosdep.
    sudo apt-get update
    sudo apt-get install -y python-wstool python-rosdep ninja-build
    
    # Create a new workspace in 'catkin_ws'.
    mkdir catkin_ws
    cd catkin_ws
    wstool init src
    
    # Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
    wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
    wstool update -t src
    
    # Install deb dependencies.
    rosdep init
    rosdep update
    rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
    
    # Build and install.
    catkin_make_isolated --install --use-ninja
    source install_isolated/setup.bash
    

    3. Running the demos

    Now that Cartographer and Cartographer’s ROS integration are installed, download the example bags (e.g. 2D and 3D backpack collections of the Deutsches Museum) to a known location, in this case ~/Downloads, and use roslaunch to bring up the demo:

    # Download the 2D backpack example bag.
    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
    
    # Launch the 2D backpack demo.
    roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
    
    # Download the 3D backpack example bag.
    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag
    
    # Launch the 3D backpack demo.
    roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/cartographer_3d_deutsches_museum.bag
    
    # Download the Revo LDS example bag.
    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
    
    # Launch the Revo LDS demo. ---- Failed to implement this one.
    roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag
    
    # Download the PR2 example bag.
    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag
    
    # Launch the PR2 demo.
    roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag
    

    The launch files will bring up roscore and rviz automatically.

    4. Results

    2D backpack demo:

    3D backpack demo:

    Revo LDS demo:

    Failed

    PR2 demo:

    Reference:

    Google Cartographer ROS | Read the Docs

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  • 原文地址:https://www.cnblogs.com/casperwin/p/6072310.html
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