Question

Hey, I wanted to launch google cartographer in ros, but I don't know how to do it. I don't want to use any demos. I have my camera and get the data from there. So do I have to write a launch file? If yes, how? And if it's not needed, how can I start it?

Asked by S.Yildiz on 2018-09-10 04:41:44 UTC

Answer 1

Follow the building and installation steps given here.

Take a look here at the launch files. Choose one that suits you best or write your own and do a remap of the topics on either cartographer side or your camera. Launch both your own node and cartographer and this should work. A simple example would be:

<launch>
  <param name="robot_description"
    textfile="$(find robot_descriptopn)/urdf/my_robot.urdf.xacro" />

  <node name="cartographer_node" pkg="cartographer_ros"
     type="cartographer_node" args="
    -configuration_directory $(find cartographer_ros)/configuration_files
    -configuration_basename test.lua"
     output="screen">
  </node>

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
     type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
</launch>

Asked by Choco93 on 2018-09-10 06:44:15 UTC

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To which topics do I have to do a remap? I just did it for the pointclouds in the backpack_3d.launch file. Is it the right way how I did it? It's: At this point I'm unsure because points2 is a subscribed topic and I also have scan_matched_points2

Asked by S.Yildiz on 2018-09-11 05:43:15 UTC

that is a published topic

Asked by S.Yildiz on 2018-09-11 05:43:28 UTC

If you are remapping under cartographer node then do <remap from="points2" to="/ifm3d/camera/cloud"/> , but if you are remapping your camera topic then your remap is fine.

Asked by Choco93 on 2018-09-11 06:25:54 UTC

Launch Google Cartographer

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