12345qiupeng
/
cartographer_ros
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Expanded Landmarks documentation (#1241) 

Expanded landmarks to included more information and make it more clear and first-time user friendly. Used knowledge from the issues, especially issue https://github.com/googlecartographer/cartographer_ros/issues/909 and https://github.com/googlecartographer/cartographer_ros/issues/1067
master
fprott 2019-04-03 19:34:51 +02:00 committed by Wally B. Feed
parent 522fb13104
commit 7e4af360e8
1 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
docs/source/configuration.rst
View File

@ -68,8 +68,8 @@ use_nav_sat
use_landmarks
If enabled, subscribes to `cartographer_ros_msgs/LandmarkList`_ on the topic
"landmarks". Landmarks must be provided in this case, and the information
will be included in SLAM.
"landmarks". Landmarks must be provided, as `cartographer_ros_msgs/LandmarkEntry`_ within `cartographer_ros_msgs/LandmarkList`_. If `cartographer_ros_msgs/LandmarkEntry`_ data is provided the information
will be included in the SLAM accoding to the ID of the `cartographer_ros_msgs/LandmarkEntry`_. The `cartographer_ros_msgs/LandmarkList`_ should be provided at a sample rate comparable to the other sensors. The list can be empty but has to be provided because Cartographer strictly time orders sensor data in order to make the landmarks deterministic. However it is possible to set the trajectory builder option "collate_landmarks" to false and allow for a non-deterministic but also non-blocking approach.
num_laser_scans
Number of laser scan topics to subscribe to. Subscribes to
@ -130,5 +130,6 @@ landmarks_sampling_ratio
.. _sensor_msgs/MultiEchoLaserScan: http://docs.ros.org/api/sensor_msgs/html/msg/MultiEchoLaserScan.html
.. _sensor_msgs/PointCloud2: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html
.. _sensor_msgs/NavSatFix: http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html
.. _cartographer_ros_msgs/LandmarkList: https://github.com/googlecartographer/cartographer_ros/blob/4b39ee68c7a4d518bf8d01a509331e2bc1f514a0/cartographer_ros_msgs/msg/LandmarkList.msg
.. _cartographer_ros_msgs/LandmarkList: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/msg/LandmarkList.msg
.. _cartographer_ros_msgs/LandmarkEntry: https://github.com/googlecartographer/cartographer_ros/blob/4b39ee68c7a4d518bf8d01a509331e2bc1f514a0/cartographer_ros_msgs/msg/LandmarkEntry.msg
.. _tf2: http://wiki.ros.org/tf2