Settings for pure localization for cartographer_ros
Hello. I wanted to do pure localization using cartographer. I have made the map as a .yaml file (which also points to .pgm). I have also successfully run slam using cartographer. However, since the map is not good I just wanna do pure localization. In the cartographer docs it says I have to give a "-loadstatefilename argument" but I do not know where and how to do it. Also do I remove anything from my configuration file?
Thank you very much
Asked by AK3874 on 2020-03-23 08:56:26 UTC
Answers
Not sure how to make cartographer make use of a simple 2D map as you describe. You usually have .pbstream file generated that you can load using:
<node name="cartographer_node" pkg="cartographer_ros" type="cartographer_node" args="-load_state_filename $MAP_NAME.pbstream" />
Thereafter you retune it as seen in the documentation
E.g.
TRAJECTORY_BUILDER.pure_localization = true
Do you really need Cartographer over AMCL for this purpose?
Asked by bob-ROS on 2020-03-24 03:30:52 UTC
Comments
I have a similar issue. I wanted to use cartographer for localisation because I have 2 lidars and AMCL only accepts 1. Has anybody successfully done this?
Asked by Py on 2020-05-27 08:21:50 UTC
You can use ira_laser_tools package to merge data from 2 laser scan topics into one.
Asked by Thazz on 2020-07-07 16:34:22 UTC
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