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Add landmarks demo to the docs. (#1077)

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Alexander Belyaev 2018-10-25 17:25:29 +02:00 committed by GitHub
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33
docs/source/data.rst
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@ -164,6 +164,39 @@ Data
`b3-2016-06-07-12-42-49.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-06-07-12-42-49.bag>`_ 596 s 3.9 GB 3 gaps in horizontal laser data, no intensities
==================================================================================================================================================== ======== ====== ================================================
MiR
===========================================
This data was collected using `MiR100 <http://www.mobile-industrial-robots.com/de/products/mir100/>`_.
An additional Logitech Webcam C930e Full HD camera was attached on top to
collect images for landmark detection.
License
-------
Copyright 2018 The Cartographer Authors
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
Data
----
==================================================================================================================================================== ======== =======
`ROS Bag <http://wiki.ros.org/Bags>`_ Duration Size
==================================================================================================================================================== ======== =======
`landmarks_demo_uncalibrated.bag <https://storage.googleapis.com/cartographer-public-data/bags/mir/landmarks_demo_uncalibrated.bag>`_ 180 s 41.7 MB
==================================================================================================================================================== ======== =======
PR2 – Willow Garage
===================

15
docs/source/demos.rst
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@ -45,6 +45,21 @@ Pure localization
load_state_filename:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag.pbstream \
bag_filename:=${HOME}/Downloads/b3-2016-04-05-15-52-20.bag
Static landmarks
========
.. raw:: html
<iframe width="560" height="315" src="https://www.youtube.com/embed/E2-OD-ycivc" frameborder="0" allowfullscreen></iframe>
.. code-block:: bash
# Download the landmarks example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/mir/landmarks_demo_uncalibrated.bag
# Launch the landmarks demo.
roslaunch cartographer_mir offline_mir_100_rviz.launch bag_filename:=${HOME}/Downloads/landmarks_demo_uncalibrated.bag
Revo LDS
========