127 lines
5.2 KiB
ReStructuredText
127 lines
5.2 KiB
ReStructuredText
.. Copyright 2016 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.
|
|
|
|
======================================
|
|
Running Cartographer ROS on a demo bag
|
|
======================================
|
|
|
|
Now that Cartographer and Cartographer's ROS integration are installed, you can
|
|
download example bags (e.g. 2D and 3D backpack collections of the
|
|
`Deutsches Museum <https://en.wikipedia.org/wiki/Deutsches_Museum>`_) to a
|
|
known location, in this case ``~/Downloads``, and use ``roslaunch`` to bring up
|
|
the demo.
|
|
|
|
The launch files will bring up ``roscore`` and ``rviz`` automatically.
|
|
|
|
.. warning:: When you want to run cartographer_ros, you might need to source your ROS environment by running ``source install_isolated/setup.bash`` first (replace bash with zsh if your shell is zsh)
|
|
|
|
Deutsches Museum
|
|
================
|
|
|
|
Download and launch the 2D backpack demo:
|
|
|
|
.. code-block:: bash
|
|
|
|
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
|
|
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
|
|
|
|
Download and launch the 3D backpack demo:
|
|
|
|
.. code-block:: bash
|
|
|
|
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag
|
|
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag
|
|
|
|
Pure localization
|
|
=================
|
|
|
|
Pure localization uses 2 different bags. The first one is used to generate the map, the second to run pure localization.
|
|
|
|
Download the 2D bags from the Deutsche Museum:
|
|
|
|
.. code-block:: bash
|
|
|
|
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-05-14-44-52.bag
|
|
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-27-12-31-41.bag
|
|
|
|
Generate the map (wait until cartographer_offline_node finishes) and then run pure localization:
|
|
|
|
.. code-block:: bash
|
|
|
|
roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag
|
|
roslaunch cartographer_ros demo_backpack_2d_localization.launch \
|
|
load_state_filename:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag.pbstream \
|
|
bag_filename:=${HOME}/Downloads/b2-2016-04-27-12-31-41.bag
|
|
|
|
Download the 3D bags from the Deutsche Museum:
|
|
|
|
.. code-block:: bash
|
|
|
|
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-13-54-42.bag
|
|
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-15-52-20.bag
|
|
|
|
Generate the map (wait until cartographer_offline_node finishes) and then run pure localization:
|
|
|
|
.. code-block:: bash
|
|
|
|
roslaunch cartographer_ros offline_backpack_3d.launch bag_filenames:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag
|
|
roslaunch cartographer_ros demo_backpack_3d_localization.launch \
|
|
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:=${HOME}/Downloads/landmarks_demo_uncalibrated.bag
|
|
|
|
Revo LDS
|
|
========
|
|
|
|
Download and launch an example bag captured from a low-cost Revo Laser Distance Sensor from Neato Robotics vacuum cleaners:
|
|
|
|
.. code-block:: bash
|
|
|
|
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
|
|
roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag
|
|
|
|
PR2
|
|
===
|
|
|
|
Download and launch an example bag captured from a PR2 R&D humanoid robot from Willow Garage:
|
|
|
|
.. code-block:: bash
|
|
|
|
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag
|
|
roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag
|
|
|
|
Taurob Tracker
|
|
==============
|
|
|
|
Download and launch an example bag captured from a Taurob Tracker teleoperation robot:
|
|
|
|
.. code-block:: bash
|
|
|
|
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag
|
|
roslaunch cartographer_ros demo_taurob_tracker.launch bag_filename:=${HOME}/Downloads/taurob_tracker_simulation.bag
|