32 lines
1.4 KiB
ReStructuredText
32 lines
1.4 KiB
ReStructuredText
.. 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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Cartographer ROS Demo
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=====================
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First, follow the installation instructions in the :ref:`getting-started` section.
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Now that Cartographer and Cartographer's ROS integration are installed,
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download the example bag, a 2D backpack collection of the `Deutsches Museum
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<https://en.wikipedia.org/wiki/Deutsches_Museum>`_, to a known location, in
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this case ``~/Downloads``, and use ``roslaunch`` to bring up the demo:
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.. code-block:: bash
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
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roslaunch cartographer_ros demo_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
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The launch file will bring up ``roscore`` and ``rviz`` automatically.
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