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Settings for pure localization for cartographer_ros

asked 2020-03-23 08:56:26 -0500

AK3874 gravatar image

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 "-load_state_filename 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

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answered 2020-03-24 03:30:52 -0500

bob-ROS gravatar image

updated 2020-03-24 03:36:24 -0500

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


TRAJECTORY_BUILDER.pure_localization = true

Do you really need Cartographer over AMCL for this purpose?

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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?

Py gravatar image Py  ( 2020-05-27 08:21:50 -0500 )edit

You can use ira_laser_tools package to merge data from 2 laser scan topics into one.

Thazz gravatar image Thazz  ( 2020-07-07 16:34:22 -0500 )edit

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Asked: 2020-03-23 08:56:26 -0500

Seen: 2,528 times

Last updated: Mar 24 '20