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@ -68,13 +68,22 @@ Running the demo
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================
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Now that Cartographer and Cartographer's ROS integration are installed,
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download the example bag, a 2D backpack collection of the `Deutsches Museum
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<https://en.wikipedia.org/wiki/Deutsches_Museum>`_, to a known location, in
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this case ``~/Downloads``, and use ``roslaunch`` to bring up the demo:
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download the example bags, 2D and 3D backpack collections of the `Deutsches
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Museum <https://en.wikipedia.org/wiki/Deutsches_Museum>`_, to a known location,
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in this case ``~/Downloads``, and use ``roslaunch`` to bring up the demo:
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.. code-block:: bash
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# Download the 2D example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
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roslaunch cartographer_ros demo_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
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The launch file will bring up ``roscore`` and ``rviz`` automatically.
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# Launch the 2D demo.
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roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
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# Download the 3D example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag
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# Launch the 3D demo.
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roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/cartographer_3d_deutsches_museum.bag
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The launch files will bring up ``roscore`` and ``rviz`` automatically.
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