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Publish data for Cartographer

asked 2021-09-21 05:17:23 -0600

texdade gravatar image

Hi all, I'm currently using Cartographer and I have to emulate the sensors of a robot to provide data to the node. I cannot use gazebo and rviz so my I chose to use the sensor data in the Deutsches Museum bag (found in cartographer's examples). The data is provided to Cartographer by having a publisher node running the rosbag play cartographer_paper_deutsches_museum.bag command. The two nodes are running in separate containers in a K8s environment and the messages from the publisher can reach the Cartographer container.

The problem is that, when I listen to Cartographer's published topics, scan_matched_points2 and tracked_pose are always empty, while in the submap_list topic messages get published, but the submap_list is empty.

Am I doing something terribly wrong?

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answered 2021-09-22 04:49:38 -0600

texdade gravatar image

The problem was in the files I was sourcing. Since I was running cartographer in a container, I was sourcing ros_entrypoint.sh each time. Sourcing also /catkin_ws/devel_isolated/cartographer_ros/setup.bash worked for me.

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Asked: 2021-09-21 05:17:23 -0600

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Last updated: Sep 22 '21