134 lines
5.3 KiB
ReStructuredText
134 lines
5.3 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 Integration
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============================
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.. toctree::
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:maxdepth: 2
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:hidden:
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configuration
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ros_api
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data
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faq
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`Cartographer`_ is a system that provides real-time simultaneous localization
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and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor
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configurations. This project provides Cartographer's ROS integration.
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.. _Cartographer: https://github.com/googlecartographer/cartographer
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.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
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System Requirements
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===================
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See Cartographer's :ref:`system requirements <cartographer:system-requirements>`.
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The following `ROS distributions`_ are currently supported:
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* Indigo
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* Kinetic
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.. _ROS distributions: http://wiki.ros.org/Distributions
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Building & Installation
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=======================
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We recommend using `wstool <http://wiki.ros.org/wstool>`_ and `rosdep
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<http://wiki.ros.org/rosdep>`_. For faster builds, we also recommend using
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`Ninja <https://ninja-build.org>`_.
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.. code-block:: bash
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# Install wstool and rosdep.
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sudo apt-get update
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sudo apt-get install -y python-wstool python-rosdep ninja-build
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# Create a new workspace in 'catkin_ws'.
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mkdir catkin_ws
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cd catkin_ws
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wstool init src
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# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
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wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
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wstool update -t src
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# Install deb dependencies.
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# The command 'sudo rosdep init' will print an error if you have already
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# executed it since installing ROS. This error can be ignored.
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sudo rosdep init
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rosdep update
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rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
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# Build and install.
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catkin_make_isolated --install --use-ninja
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source install_isolated/setup.bash
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Running the demos
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=================
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Now that Cartographer and Cartographer's ROS integration are installed,
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download the example bags (e.g. 2D and 3D backpack collections of the
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`Deutsches Museum <https://en.wikipedia.org/wiki/Deutsches_Museum>`_) to a
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known location, in this case ``~/Downloads``, and use ``roslaunch`` to bring up
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the demo:
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.. code-block:: bash
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# Download the 2D backpack example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
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# Launch the 2D backpack demo.
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roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
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# 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:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag.pbstream
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# Download the 3D backpack example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag
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# Launch the 3D backpack demo.
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roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag
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# Download the Revo LDS example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
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# Launch the Revo LDS demo.
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roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag
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# Download the PR2 example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag
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# Launch the PR2 demo.
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roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag
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# Download the Taurob Tracker example bag.
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wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag
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# Launch the Taurob Tracker demo.
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roslaunch cartographer_ros demo_taurob_tracker.launch bag_filename:=${HOME}/Downloads/taurob_tracker_simulation.bag
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The launch files will bring up ``roscore`` and ``rviz`` automatically.
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