ROS: Google-cartographer / Mapping
I have to create a map, to do so I installed google cartographer and I'm using a 3D camera with whom I got the data of my surrounding. I am reading the documentation to the cartographer but I cant find the place where it is explaining to me how i do the mapping.
I know i have to start rviz but I don't know what the next step is. Am I getting the data of the camera in rviz? And is there any Youtube tutorial I can follow or something?
Asked by S.Yildiz on 2018-08-06 09:45:27 UTC
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Have you had any luck figuring out how to do this? What 3D camera are you using? I'm trying to get a vlp-16 to work. I've been able to replicate the demos and play the rosbags and visualize the recorded maps, but not connect to an online robot yet.
Asked by er35 on 2018-08-23 17:28:15 UTC
I have a RGB camera (ifm3d). And I figured out that the cartographer expects 4 inputs: Range data, Odometry pose, IMU data and fixed frame pose. You can look it up here: https://google-cartographer.readthedocs.io/en/latest/
And to feed the sensor data to the cartographer, you have to use remap.
Asked by S.Yildiz on 2018-09-11 02:16:18 UTC
you can read it here: https://answers.ros.org/question/302919/publish-sensor-data-to-cartographer/
Asked by S.Yildiz on 2018-09-11 02:16:44 UTC