在演示包上运行制图师ROS¶

现在，Cartographer 和 Cartographer 的 ROS 集成已经安装完毕，您可以将示例包（例如德意志博物馆的 2D 和 3D 背包系列）下载到一个已知位置，在本例中为~/Downloads，然后使用roslaunch 启动演示包。

启动文件会自动调用roscore和rviz。

警告

当你想运行 cartographer_ros 时，可能需要先运行source install_isolated/setup.bash（如果你的 shell 是 zsh，请用 zsh 代替bash），为你的 ROS 环境添加源代码。

德意志博物馆

下载并启动 2D 背包演示：

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

下载并启动 3D 背包演示：

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

纯本地化

纯本地化使用两个不同的背包。第一个用于生成地图，第二个用于运行纯本地化。

从德意志博物馆下载 2D 背包：

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>

生成地图（等到 cartographer_offline_node 完成），然后运行纯本地化：

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

从德意志博物馆下载 3D 图袋：

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>

从德意志博物馆下载 3D 袋：生成地图（等待制图师_offline_node 完成），然后运行纯本地化：

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

静态地标

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

# 启动地标演示。 

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

RevoLDS¶

下载并启动从 Neato Robotics 真空吸尘器的低成本 Revo 激光测距传感器捕获的示例袋：

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¶

下载并启动从 Willow Garage 的 PR2 研发仿人机器人捕获的示例袋：

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

TaurobTracker¶

下载并启动从 Taurob Tracker 远程操作机器人捕获的示例包：

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