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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
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cartographer_ros/launch/demo_2d.launch → cartographer_ros/launch/demo_backpack_2d.launch
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cartographer_ros/launch/demo_3d.launch → cartographer_ros/launch/demo_backpack_3d.launch
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docs/source/index.rst
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@ -68,13 +68,22 @@ Running the demo
================ ================
Now that Cartographer and Cartographer's ROS integration are installed, Now that Cartographer and Cartographer's ROS integration are installed,
download the example bag, a 2D backpack collection of the `Deutsches Museum download the example bags, 2D and 3D backpack collections of the `Deutsches
<https://en.wikipedia.org/wiki/Deutsches_Museum>`_, to a known location, in Museum <https://en.wikipedia.org/wiki/Deutsches_Museum>`_, to a known location,
this case ``~/Downloads``, and use ``roslaunch`` to bring up the demo: in this case ``~/Downloads``, and use ``roslaunch`` to bring up the demo:
.. code-block:: bash .. 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 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.