2.在demo bag上运行cartographer ROS

注意在运行bag包，之前需要去执行source install_isolated/setup.bash

1.Deutsches Museum

下载并启动2D的backpack 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

下载并启动3Dbackpack demo:

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag

纯定位

纯定位使用两个不同的bag。第一个用于生成地图，第二个用于运行纯定位。

下载2D bag：

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-05-14-44-52.bag
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-27-12-31-41.bag

生成地图（等待直到cartographer_offline_node完成），然后运行纯定位:

roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag
roslaunch cartographer_ros demo_backpack_2d_localization.launch 
   load_state_filename:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag.pbstream 
   bag_filename:=${HOME}/Downloads/b2-2016-04-27-12-31-41.bag

下载3D bags：

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-13-54-42.bag
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-15-52-20.bag

生成地图（等待直到cartographer_offline_node完成），然后运行纯定位:

roslaunch cartographer_ros offline_backpack_3d.launch bag_filenames:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag
roslaunch cartographer_ros demo_backpack_3d_localization.launch 
   load_state_filename:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag.pbstream 
   bag_filename:=${HOME}/Downloads/b3-2016-04-05-15-52-20.bag

静态路标

# Download the landmarks example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/mir/landmarks_demo_uncalibrated.bag

# Launch the landmarks demo.
roslaunch cartographer_mir offline_mir_100_rviz.launch bag_filename:=${HOME}/Downloads/landmarks_demo_uncalibrated.bag

Revo LDS

Download and launch an example bag captured from a low-cost Revo Laser Distance Sensor from Neato Robotics vacuum cleaners:

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

PR2

Download and launch an example bag captured from a PR2 R&D humanoid robot from Willow Garage:

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag
roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag

Taurob Tracker

Download and launch an example bag captured from a Taurob Tracker teleoperation robot:

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