80 lines
3.4 KiB
ReStructuredText
80 lines
3.4 KiB
ReStructuredText
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.. Copyright 2016 The Cartographer Authors
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.. Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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.. http://www.apache.org/licenses/LICENSE-2.0
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.. Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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=====
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Demos
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=====
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Pure localization
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=================
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.. code-block:: bash
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# Pure localization demo in 2D: We use 2 different 2D bags from the Deutsche
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# Museum. The first one is used to generate the map, the second to run
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# pure localization.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-05-14-44-52.bag
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-27-12-31-41.bag
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# Generate the map: Run the next command, wait until cartographer_offline_node finishes.
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roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag
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# Run pure localization:
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roslaunch cartographer_ros demo_backpack_2d_localization.launch \
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map_filename:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag.pbstream \
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bag_filename:=${HOME}/Downloads/b2-2016-04-27-12-31-41.bag
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# Pure localization demo in 3D: We use 2 different 3D bags from the Deutsche
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# Museum. The first one is used to generate the map, the second to run
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# pure localization.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-13-54-42.bag
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-15-52-20.bag
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# Generate the map: Run the next command, wait until cartographer_offline_node finishes.
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roslaunch cartographer_ros offline_backpack_3d.launch bag_filenames:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag
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# Run pure localization:
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roslaunch cartographer_ros demo_backpack_3d_localization.launch \
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map_filename:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag.pbstream \
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bag_filename:=${HOME}/Downloads/b3-2016-04-05-15-52-20.bag
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Revo LDS
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========
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.. code-block:: bash
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# Download the Revo LDS example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
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# Launch the Revo LDS demo.
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roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag
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PR2
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===
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.. code-block:: bash
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# Download the PR2 example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag
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# Launch the PR2 demo.
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roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag
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Taurob Tracker
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==============
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.. code-block:: bash
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# Download the Taurob Tracker example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag
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# Launch the Taurob Tracker demo.
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roslaunch cartographer_ros demo_taurob_tracker.launch bag_filename:=${HOME}/Downloads/taurob_tracker_simulation.bag
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