Adds 3D demo bag docs. (#75)

* Improves consistency across documentation.
master
Damon Kohler 2016-09-30 11:25:43 +02:00 committed by GitHub
parent ccf77d55e2
commit ab381d5e6c
3 changed files with 14 additions and 5 deletions

View File

@ -68,13 +68,22 @@ Running the demo
================
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:
download the example bags, 2D and 3D backpack collections 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
# Download the 2D example bag.
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:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
The launch file will bring up ``roscore`` and ``rviz`` automatically.
# Launch the 2D demo.
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
# Download the 3D example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag
# Launch the 3D demo.
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/cartographer_3d_deutsches_museum.bag
The launch files will bring up ``roscore`` and ``rviz`` automatically.