How to build a 3D map with Google cartographer-ros

asked 2019-07-22 02:17:14 -0500

Petr_31 gravatar image

Hello developers,

I'm new to ros and I would like to build a 3D map using google cartographer.

When I'm running the .bag file with the cartographer, I obtain in rviz the map generated in front of the robot, and I can see the robot exploring the field, but the map in only generated straight in front of and on the sides of the robot. When the robot is moving 1m forward, the previous part generated disappears from the screen and new part is generated.

I would like to save the entire map of this exploration, from the beggining to the end of the recorded datas, do I have to install something? Does the google cartographer already provide such a functionality? I don't know how to proceed and my researches on internet didn't help that much, any help would be appreciated. Thank you

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