Add pure localization demo. (#410)
Adds configuration files and launch files for 2D backpack pure localization. PAIR=wohemaster
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-- Copyright 2016 The Cartographer Authors
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--
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-- Licensed under the Apache License, Version 2.0 (the "License");
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-- you may not use this file except in compliance with the License.
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-- You may obtain a copy of the License at
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--
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-- http://www.apache.org/licenses/LICENSE-2.0
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--
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-- Unless required by applicable law or agreed to in writing, software
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-- distributed under the License is distributed on an "AS IS" BASIS,
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-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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-- See the License for the specific language governing permissions and
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-- limitations under the License.
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include "backpack_2d.lua"
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TRAJECTORY_BUILDER.pure_localization = true
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SPARSE_POSE_GRAPH.optimize_every_n_scans = 20
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return options
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<!--
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Copyright 2016 The Cartographer Authors
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<launch>
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<param name="/use_sim_time" value="true" />
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<param name="robot_description"
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textfile="$(find cartographer_ros)/urdf/backpack_2d.urdf" />
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<node name="robot_state_publisher" pkg="robot_state_publisher"
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type="robot_state_publisher" />
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<node name="cartographer_node" pkg="cartographer_ros"
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type="cartographer_node" args="
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-configuration_directory $(find cartographer_ros)/configuration_files
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-configuration_basename backpack_2d_localization.lua
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-map_filename $(arg map_filename)"
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output="screen">
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<remap from="echoes" to="horizontal_laser_2d" />
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</node>
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<node name="rviz" pkg="rviz" type="rviz" required="true"
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args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
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<node name="playbag" pkg="rosbag" type="play"
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args="--clock $(arg bag_filename)" />
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</launch>
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@ -94,6 +94,18 @@ the demo:
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# Launch the 2D backpack demo.
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# Launch the 2D backpack demo.
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roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
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roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
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# Pure localization demo: We use 2 different 2D bags from the Deutsche
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# Museum. The first one is used to generate the map, the second to run
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# pure localization.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-05-14-44-52.bag
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-27-12-31-41.bag
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# Generate the map: Run the next command, wait until cartographer_offline_node finishes.
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roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag
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# Run pure localization:
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roslaunch cartographer_ros demo_backpack_2d_localization.launch \
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bag_filename:=${HOME}/Downloads/b2-2016-04-27-12-31-41.bag \
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map_filename:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag.pbstream
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# Download the 3D backpack example bag.
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# Download the 3D backpack example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag
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