ROS: Google-cartographer / Mapping

asked 2018-08-06 09:45:27 -0600

S.Yildiz gravatar image

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?

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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.

er35 gravatar imageer35 ( 2018-08-23 17:28:15 -0600 )edit

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.readthedo...

And to feed the sensor data to the cartographer, you have to use remap.

S.Yildiz gravatar imageS.Yildiz ( 2018-09-11 02:16:18 -0600 )edit
S.Yildiz gravatar imageS.Yildiz ( 2018-09-11 02:16:44 -0600 )edit