Google Cartographer

Table of contents

Supported Hardware

Setup

Setup Google Cartographer (these steps are for illustration only, you must adapt these lines to your local directory names)

  1. Login to Ubuntu.

  2. Open multiple terminals.

  3. Terminal 1: . ros1_start.sh roscore

  4. Terminal 2: . ros1_start.sh cd ~/ros_catkin_ws source ./devel/setup.bash

  5. Terminal 3: roslaunch sick_scan_xd sick_mrs_1xxx_cartographer.launch cloud_topic:=horizontal_laser_3d frame_id:=horizontal_vlp16_link

  6. Terminal 4: roslaunch sick_scan_xd sick_tim_5xx.launch cloud_topic:=vertical_laser_3d frame_id:=vertical_vlp16_link hostname:=192.168.0.71

  7. Terminal 5:

    • . ros1_start.sh

    • cd ~/ros_cartographer_ws

    • source ./install_isolated/setup.bash

    • catkin_make_isolated

    • roslaunch cartographer_ros live_demo_backpack_3d.launch

Example output

The following figure shows an example of an outdoor slam result using a MRS1104-scanner:

slam_example