diff --git a/cartographer_ros/launch/demo_2d.launch b/cartographer_ros/launch/demo_backpack_2d.launch similarity index 100% rename from cartographer_ros/launch/demo_2d.launch rename to cartographer_ros/launch/demo_backpack_2d.launch diff --git a/cartographer_ros/launch/demo_3d.launch b/cartographer_ros/launch/demo_backpack_3d.launch similarity index 100% rename from cartographer_ros/launch/demo_3d.launch rename to cartographer_ros/launch/demo_backpack_3d.launch diff --git a/docs/source/index.rst b/docs/source/index.rst index c409b6a..234f1b0 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -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 -`_, 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 `_, 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.