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I am using the Cartographer package to implement 2D Online SLAM. I have managed to get input data from VLP-16 LiDAR to work with Cartographer, however, cartographer does not publish any submaps. Could you please suggest any reasons why this might be the case? Thank you.
@Ekow Mensah , can you provide the ouput of the terminal which you run the cartographer? One suggestion is try to save your lidar data and other datas if available (tf , odom etc.) to a rosbag file. Then validate this rosbag file:
cartographer_rosbag_validate -bag_filename /path.../bagfilename.bag
This command will print some possible errors you might have in the recorded data. It is going to be useful to start debugging from these errors and warnings.
@samialperen Hi, I'm trying this command but didn't know what to put as -bag_filename; i know that the name of the file would be the third command (.bag) but I couldn't understand the second one?
@Syrine, it should stay same. For example, if you have data1.bag at /user/home/Downloads then the command will be
cartographer_rosbag_validate -bag_filename /home/user/Downloads/data1.bag
Asked: 2018-04-26 11:22:52 -0500
Seen: 764 times
Last updated: Apr 25 '19
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