autodrive入门教程-离线建图-实现Cartographer 2D离线建图
autodrive入门教程-离线建图-实现Cartographer 2D离线建图
说明:
- 介绍如何实现cartographer 2D离线建图
##使用官方数据包离线建图测试:
- 启动建图:
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/rosbag/b2-2016-04-05-14-14-52.bag
- 效果如下:
录制rosbag
- 查看如何录制rosbag, 点击实时建图章节
生成pbstream
- 启动离线3D建图,默认已经指定一个室外数据集
roslaunch racebot_slam laser_cartographer_demo_offline.launch
- 如果需要更改自己录制的数据包,可以指定如下:
roslaunch racebot_slam laser_cartographer_demo_offline.launch bag_file:=${HOME}/rosbag/laser_cartographer_office.bag
- 默认录制的数据包都放在~/rosbag/目录下
- 打开rviz
roslaunch racebot_rviz pointcloud_cartographer_2d.launch
- 建图效果:
演示视频
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