How to get Google Cartographer to work with velodyne HDL32/VLP16 PCAP files
I'm trying to get the cartographer to run with HDL32/VLP32/VLP16 pcaps. Anybody know how to setup cartographer to work w/ pcaps? Is there an IRC or forum forum for this project? I've cloned backpack_2d.launch, backpack_2d.urdf, backpack_2d.lua as rick.launch, rick.urdf, rick.lua.
In other programs, like LOAM, I'd launch it, then launch the 'roslaunch velodyne_pointcloud VLP16.launch pcap="blah"' I was hoping to "roslaunch cartographer_ros rick.launch" and then launch the velodyne point cloud pcap. When rviz pops up, I see nothing. But I get the following warning: "[ WARN] [1537812445.970344829]: W0924 14:07:25.000000 22978 ordered_multi_queue.cc:155] Queue waiting for data: (0, imu).
My Lua file:
include "map_builder.lua"
include "trajectory_builder.lua"
options = {
map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "base_link",
published_frame = "base_link",
odom_frame = "odom",
provide_odom_frame = true,
publish_frame_projected_to_2d = false,
use_pose_extrapolator = true,
use_odometry = false,
use_nav_sat = false,
use_landmarks = false,
num_laser_scans = 1,
num_multi_echo_laser_scans = 0,
num_subdivisions_per_laser_scan = 1,
num_point_clouds = 0,
lookup_transform_timeout_sec = 0.2,
submap_publish_period_sec = 0.3,
pose_publish_period_sec = 5e-3,
trajectory_publish_period_sec = 30e-3,
rangefinder_sampling_ratio = 1.,
odometry_sampling_ratio = 1.,
fixed_frame_pose_sampling_ratio = 1.,
imu_sampling_ratio = 1.,
landmarks_sampling_ratio = 1.,
}
MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 10
return options
My URDF:
<robot name="rick_2d">
<link name="base_link" />
<link name="velodyne" />
<joint name="imu_link_joint" type="fixed">
<parent link="base_link" />
<child link="velodyne" />
<origin xyz="0 0 0" />
</joint>
</robot>
My Launch File:
<launch>
<param name="robot_description"
textfile="$(find cartographer_ros)/urdf/rick.urdf" />
<node name="robot_state_publisher" pkg="robot_state_publisher"
type="robot_state_publisher" />
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename rick.lua"
output="screen">
<!-- <remap from="echoes" to="horizontal_laser_2d" /> -->
</node>
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
</launch>