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explore_lite does not work with cartographer

asked 2020-05-18 00:04:48 -0500

tonglliyoon gravatar image

As mentioned in https://github.com/hrnr/m-explore/iss... there is a bug where explore_lite does not work with cartographer.

I tried to modify code of explore_lite, but it wasn't successful. Does anyone have an idea how to fix?

Which other package I can use with cartographer to autonomously explore map? What do you do to autonomously explore map?

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answered 2020-05-31 23:07:46 -0500

tonglliyoon gravatar image

fork of explore_lite that solves this bug.

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answered 2020-05-31 16:36:08 -0500

ozangungor gravatar image

Hey, I am working on a similar problem and I was able to run explore_lite package combined with gmapping. If you must use cartographer, maybe you can try different exploration packages like frontier exploration or rrt exploration.

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actually I found fork of explore_lite that solves this bug. I dont like frontier exploration and rrt exploration because they need to set initial area for exploring.

tonglliyoon gravatar image tonglliyoon  ( 2020-05-31 23:07:10 -0500 )edit

Great that you solved it. Is there a particular reason you're using cartographer over other SLAM methods?

ozangungor gravatar image ozangungor  ( 2020-06-01 04:00:52 -0500 )edit

The only reason is because cartographer is very popular and widespread.

I wanted to use cartographer with Intel d435i camera without converting depthcloud to laserscan.

Previously, I was using rtabmap and it worked very well. I want to obtain similar 2d map for navigation from cartographer built with only camera without lidar, but I cant find any .lua file for such configuration.

Have you ever enocountered such lua file?

what about you? what are you using cartographer?

tonglliyoon gravatar image tonglliyoon  ( 2020-06-01 04:42:58 -0500 )edit

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Asked: 2020-05-18 00:04:48 -0500

Seen: 33 times

Last updated: May 31