How to implement cartographer with kinect sensor?
Many thanks for your help!!!! I'm still pretty new to ROS and turtlebot so I need some advice on setting the launch and configuration files so as to build a map from a bag file containing the /scan /odom and / tf topics, unless i've missed out on other topics.
Currently I can view the turtlebot's odom and tf in the rviz but not the point clouds with the current configuration below:
include "map_builder.lua"
options = {
map_builder = MAP_BUILDER,
map_frame = "map",
tracking_frame = "imu_link",
published_frame = "odom",
odom_frame = "odom",
provide_odom_frame = true,
use_odometry = true,
use_laser_scan = true,
use_multi_echo_laser_scan = false,
num_point_clouds = 1,
lookup_transform_timeout_sec = 0.2,
submap_publish_period_sec = 0.3,
pose_publish_period_sec = 5e-3,
}
MAP_BUILDER.use_trajectory_builder_3d = true
TRAJECTORY_BUILDER_2D.use_imu_data = true
return options
The launch file:
<launch>
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory
$(find cartographer_turtlebot)/configuration_files
-configuration_basename turtlebot_depth_cam_3d_2.lua"
output="screen" />
<node name="flat_world_imu_node" pkg="cartographer_turtlebot"
type="cartographer_flat_world_imu_node" output="screen">
<remap from="imu_in" to="/mobile_base/sensors/imu_data_raw" />
<remap from="imu_out" to="/imu" />
</node>
<node name="dropper" pkg="topic_tools" type="drop"
args="/camera/depth/image_raw 1 2" />
<node pkg="nodelet" type="nodelet" name="image_processing_manager"
args="manager" />
<node pkg="nodelet" type="nodelet" name="metricizer"
args="load depth_image_proc/convert_metric image_processing_manager">
<remap from="image_raw" to="/camera/depth/image_raw_drop" />
<remap from="image" to="/image" />
</node>
<node pkg="nodelet" type="nodelet" name="rectifier"
args="load image_proc/rectify image_processing_manager">
<remap from="image_mono" to="/image" />
<remap from="camera_info" to="/camera/depth/camera_info" />
<remap from="image_rect" to="/image_rect" />
</node>
<node pkg="nodelet" type="nodelet" name="cloudifier"
args="load depth_image_proc/point_cloud_xyz image_processing_manager">
<remap from="camera_info" to="/camera/depth/camera_info" />
<remap from="image_rect" to="/image_rect" />
<remap from="points" to="/points2" />
</node>
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_turtlebot
)/configuration_files/demo_turtlebot.rviz" />
<node name="playbag" pkg="rosbag" type="play"
args="--clock $(arg bag_filename)" />
</launch>
I've tried to reformat your post for better readability. Please check that I have not broken anything.