截止到19年7月16号,该算法已经被ros集成了功能包,使用
sudo apt-get install ros-kinetic-cartographer*
安装即可。
测试bag文件:
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
3D数据:
https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/backpack_3d/b3-2016-04-05-14-14-00.bag
注意:此处文件存放目录不能包含中文目录,否则会出现如下问题。
Invalid <node> tag: 'ascii' codec can't decode byte 0xe4 in position 8: ordinal not in range(128).
Node xml is <node args="--clock $(arg bag_filename)" name="playbag" pkg="rosbag" type="play"/>
The traceback for the exception was written to the log file