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Adds documentation for starting the 2D SLAM demo. (#30)

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Damon Kohler 2016-08-30 09:50:33 +02:00 committed by GitHub
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docs/source/demo.rst Normal file
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.. Copyright 2016 The Cartographer Authors
.. Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
.. http://www.apache.org/licenses/LICENSE-2.0
.. Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
=====================
Cartographer ROS Demo
=====================
First, follow the installation instructions in the :ref:`getting-started` section.
Now that Cartographer and Cartographer's ROS integration are installed,
download the example bag, a 2D backpack collection of the `Deutsches Museum
<https://en.wikipedia.org/wiki/Deutsches_Museum>`_, to a known location, in
this case ``~/Downloads``, and use ``roslaunch`` to bring up the demo:
.. code-block:: bash
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
The launch file will bring up ``roscore`` and ``rviz`` automatically.

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docs/source/index.rst
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See the License for the specific language governing permissions and
limitations under the License.
.. Cartographer documentation master file, created by
sphinx-quickstart on Fri Jul 8 10:41:33 2016.
You can adapt this file completely to your liking, but it should at least
contain the root `toctree` directive.
============================
Cartographer ROS Integration
============================
@ -25,6 +20,8 @@ Cartographer ROS Integration
:maxdepth: 2
:hidden:
demo
`Cartographer`_ is a system that provides real-time simultaneous localization
and mapping `SLAM`_ across multiple platforms and sensor configurations. This
project provides Cartographer's ROS integration.
@ -32,6 +29,8 @@ project provides Cartographer's ROS integration.
.. _Cartographer: https://github.com/googlecartographer/cartographer
.. _SLAM: http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
.. _getting-started:
Getting Started
===============