【cartogarpher_ros】二：官方Demo的介绍与演示

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上一节我们介绍了在linux中快速安装集成ros环境的cartographer。

本节我们会来跑一些官方demo，用于测试cartographer是否正确安装，顺便看看cartographer的建图与定位效果。

这里建议如果和作者一样用的是VMware虚拟机，最好给系统分配4G以上的内存。

官方用例

https://google-cartographer-ros.readthedocs.io/en/latest/demos.html

1：德国博物馆

2：纯定位

3：静态地标

4：Revo LDS

5：PR2

6：Taurob Tracker

1：德国博物馆

通过雷达LaserScan和陀螺仪IMU建图的案例

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

过程：

结果：

2：纯定位

纯定位使用 2 个不同的包。第一个用于建图，第二个用于定位。

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

建图：

roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag

定位：

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

过程：

3：静态地标

此案例在建图过程中加入了landmark数据作为辅助。

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/mir/landmarks_demo_uncalibrated.bag

roslaunch cartographer_mir offline_mir_100_rviz.launch bag_filenames:=${HOME}/Downloads/landmarks_demo_uncalibrated.bag

过程

过程：

结果：

4：Revo LDS

从 Neato Robotics 真空吸尘器的低成本 Revo 激光距离传感器采集的Ros包，纯雷达建图。

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

过程：

结果：

5：PR2

从 Willow Garage 的 PR2 研发机器人采集的Ros包。(这个包有3.7个G，不是必要的话可以不跑该示例)

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

过程：

结果：

6：Taurob Tracker

从 Taurob Tracker 远程操作机器人采集的Ros包

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

过程：

结果：