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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?
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>
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: <remap from="/ifm3d/camera/cloud" to="points2"/> At this point I'm unsure because points2 is a subscribed topic and I also have scan_matched_points2
Asked: 2018-09-10 04:41:44 -0600
Seen: 1,560 times
Last updated: Sep 10 '18
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