cartographer ros使用指南-示例

cartographer ros使用指南-示例

说明：

• 介绍一些示例

Pure localization

• 示例：

# Pure localization demo in 2D: We use 2 different 2D bags from the Deutsche
# Museum. The first one is used to generate the map, the second to run
# pure localization.
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
# Generate the map: Run the next command, wait until cartographer_offline_node finishes.
roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag
# Run pure localization:
roslaunch cartographer_ros demo_backpack_2d_localization.launch \
   load_state_filename:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag.pbstream \
   bag_filename:=${HOME}/Downloads/b2-2016-04-27-12-31-41.bag

# Pure localization demo in 3D: We use 2 different 3D bags from the Deutsche
# Museum. The first one is used to generate the map, the second to run
# pure localization.
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
# Generate the map: Run the next command, wait until cartographer_offline_node finishes.
roslaunch cartographer_ros offline_backpack_3d.launch bag_filenames:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag
# Run pure localization:
roslaunch cartographer_ros demo_backpack_3d_localization.launch \
   load_state_filename:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag.pbstream \
   bag_filename:=${HOME}/Downloads/b3-2016-04-05-15-52-20.bag

Revo LDS

• 示例：

# 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

PR2

• 示例：

# 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

Taurob Tracker

# Download the Taurob Tracker example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag

# Launch the Taurob Tracker demo.
roslaunch cartographer_ros demo_taurob_tracker.launch bag_filename:=${HOME}/Downloads/taurob_tracker_simulation.bag