github source: https://github.com/googlecartographer/cartographer_turtlebot 1. Building & Installation Installation has been tested on Ubuntu 14.04 (Trusty) with ROS Indigo, but may also work on Ubuntu 16.04 (Xenial) with ROS Kinetic. We recommend us…

1.验证自己的bag cartographer ROS提供了一个工具cartographer_rosbag_validate来自动分析包中的数据.在尝试调试cartographer之前运行这个工具. 操作方式: cartographer_rosbag_validate -bag_filename your_bag.bag 2.创建一个.lua配置文件 cartographer非常灵活且可以配置用于任何机器人上.机器人配置读取来自于一个options的数据结构,该数据结构必须定义在一个Lua脚本里…

1.系统要求 cartographer ROS与Cartographer要求一样,即 64-bit, modern CPU (e.g. 3rd generation i7) 16 GB RAM Ubuntu 14.04 (Trusty) and 16.04 (Xenial) gcc version 4.8.4 and 5.4.0 支持的ROS版本: Indigo Kinetic Lunar Melodic 编译并安装 为了编译Cartographer ROS,推荐使用wstool 和 rosde…

上一节介绍了在cartographer进行建图和定位(在线和离线). 本节将分析cartographer运行时的误差与延迟,主要是在线定位时的,并尝试优化解决. 目录 1,误差分析 a,硬件精度 b,初值敏感 c,计算量大 2,延时优化 本地 全局 减少重复子图 3,简单小结 1,误差分析 建图时的漂移,重影等现象基本可以通过: 确保雷达足够的频率和角度: 建图时移动速度均匀且不要过快: 调整建图参数:足够多的迭代优化: 融合里程计+陀螺仪等方式解决. 这里的误差主要指在实时定位的定位错差. a…

注意在运行bag包,之前需要去执行source install_isolated/setup.bash 1.Deutsches Museum 下载并启动2D的backpack demo: wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag roslaunch cartographer_…

Cartographer is a backpack equipped with Simultaneous Localization and Mapping (SLAM) technology. 1. Platform Dell PC installed Ubuntu 14.4 and ROS Indigo. 2. Building & Installation We recommend using wstool and rosdep. For faster builds, we also re…

中文资料稍后补充 Introducing Cartographer By Tully Foote on October 5, 2016 10:11 AM From Damon Kohler, Wolfgang Hess, and Holger Rapp, Google Engineering We are happy to announce the open source release of Cartographer, a real-time SLAM library in 2D and 3D…

What is Cartographer? Google announce the open source release of Cartographer, a real-time simultaneous localization and mapping (SLAM) library in 2D and 3D with ROS support, in October 2016. As Robotics Trends said, "Google wants to democratize the…

0 引言 刚刚入门学了近一个月的SLAM,但对理论推导一知半解,因此在matlab上捣鼓了个简单的2D LiDAR SLAM的demo来体会体会SLAM的完整流程. (1)数据来源:德意志博物馆Deutsches Museum)的2D激光SLAM数据,链接如下: Public Data - Cartographer ROS documentationgoogle-cartographer-ros.readthedocs.io (2)SLAM过程展示(戳下面的小视频) 2D LiDAR SLAM…

ROS_Kinetic_27 在ROS中使用Cartographer进行SLAM Cartographer是谷歌新開源的通用的2D和3D定位與構圖同步的SLAM工具,並提供ROS接口. 论文Real-Time Loop Closure in 2D LIDAR SLAM下载地址: http://download.csdn.net/detail/zhangrelay/9648192 资料汇总请参考:http://blog.csdn.net/zhangrelay/article/details/527…