Cartographer for TurtleBot?

asked 2017-05-02 04:36:02 -0600

Turtle
41 ●6 ●7 ●14

updated 2017-05-08 07:30:53 -0600

I want to build a map by using Cartographer and then navigate the robot from A to B in the map (using gazebo and rviz). I have seen the github code and have read the docs site, but I am still not sure how to use the cartographer with turtlebot. What parameters and launch file do I need to use to run and do mapping?

Can some describe step by step procedure to follow and successfully implement cartographer to work with turtlebot, and any modification that needs to be done to the launch files. I am new to ROS and have so far successfully run gmapping on turtlebot. I am trying to use cartographer in simulation using a turtlebot. I am using ROS Indigo and wondering if it is possible or just a waste of time?

answered 2017-05-07 03:34:29 -0600

MarkyMark2012
1834 ●94 ●110 ●138

Hi,

I'm using the Kobuki TB and have Cartographer working.

Once you have build then download the Turtle Bot repo from here:

https://github.com/googlecartographer/cartographer_turtlebot

And build that. I'm using a RPLIDAR A2 to so fire up the mapper I use:

roslaunch cartographer_turtlebot mxnet_turtlebot.launch configuration_basename:=mxnet_turtlebot_urg_lidar_2d.lua

(I copied turtlebot.launch and turtlebot_urg_lidar_2d.lua and prefixed them so i knew I had a base to go back to)

The other change I needed to make was to kobuki's minimal.launch and add the static publisher:

<node pkg="tf" type="static_transform_publisher" name="static_transform_publisher4" args="0 0 0.3 0 0 0 1 base_footprint gyro_link 100"/>

Hope that helps

Mark

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Thanks, Mark! I don't have a real robot, I'm using gazebo as a simulator. I'm not sure if it is possible in simulator? I would appreciate any tips.

Turtle ( 2017-05-08 04:16:18 -0600 )edit

Yes it should be as it's interfaces are just standard ROS. Make sure you switch Sim time to true. I've not used it in gazebo myself. Try with gmapping or another well known one first, get that going then swap

MarkyMark2012 ( 2017-05-08 05:35:57 -0600 )edit

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