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) 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:
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:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
Download and launch the 3D backpack demo:
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${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:
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:
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:=${HOME}/Downloads/b2-2016-04-27-12-31-41.bag
Download the 3D bags from the Deutsche Museum:
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-13-54-42.bag
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-15-52-20.bag
Generate the map (wait until cartographer_offline_node finishes) and then run pure localization:
roslaunch cartographer_ros offline_backpack_3d.launch bag_filenames:=${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¶
# 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:=${HOME}/Downloads/landmarks_demo_uncalibrated.bag
Revo LDS¶
Download and launch an example bag captured from a low-cost Revo Laser Distance Sensor from Neato Robotics vacuum cleaners:
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${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:
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:=${HOME}/Downloads/2011-09-15-08-32-46.bag
Taurob Tracker¶
Download and launch an example bag captured from a Taurob Tracker teleoperation robot:
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag
roslaunch cartographer_ros demo_taurob_tracker.launch bag_filename:=${HOME}/Downloads/taurob_tracker_simulation.bag