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  • 谷歌Cartographer ROS初探

    谷歌在10月6日的开源其SLAM算法cartography。非常有意思。其官网上给了相当多的说明。

    在此把链接提供一下。

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

    说的很明白,就不一一赘述了。

    安装流程如下,step by step就ok

    # 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 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

    同时谷歌呢也提供了一些demo,在riviz环境中的仿真
    # 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.
    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

    我试了一下2D的demo,效果还不错

    其github也有源码说明

    https://github.com/googlecartographer

    同时提供了turtlbot的仿真。

    算法

    W. Hess, D. Kohler, H. Rapp, and D. Andor, Real-Time Loop Closure in 2D LIDAR SLAM, in Robotics and Automation (ICRA), 2016 IEEE International Conference on. IEEE, 2016. pp. 1271–1278.

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  • 原文地址:https://www.cnblogs.com/xjtusanfeng/p/5941645.html
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